基于自适应反演方法的自主水下航行器控制

Autonomous underwater vehicle control based on adaptive backstepping method

针对高速自主水下航行器,设计了垂直面内的自适应控制器。大多数自主水下航行器的深度控制都基于小俯仰角假设,但在某些情况下此假设可能会产生较大的模型误差,甚至会导致严重的后果。考虑水下航行器的未知参数和非线性,并且不对俯仰角作任何假设,设计了自适应反演控制器,使闭环系统的深度跟踪具有全局渐近稳定性。仿真表明,该控制器对模型不确定性具有较强的鲁棒性,并且明显优于传统的内外环结构的比例积分微分(proportional-integral-differential,PID)控制器。

An adaptive controller for the dive-plane of high-speed autonomous underwater vehicle（AUV） is designed.Most approaches of AUV＇s depth control are under an assumption that the pitch angle is near zero,which is not the case and may induce large modeling errors,and even may cause severe problems in some practical applications.Considering the unknown parameters and nonlinearities,an adaptive backstepping control law is derived for the depth control of AUV without any assumption on the pitch angle.In the closed-loop system,asymptotic stabilization of depth tracking is accomplished.Simulations illustrate the robustness of the proposed controller to model uncertainties,as well as its advantages over the traditional proportional-integral-differential（PID） controller with inner and outer loops.