水下滑翔机纵倾运动的自适应积分反演控制

Adaptive Integral Backstepping Control for Vertical Pitch Motion of Underwater Gliders

针对浮力驱动式水下滑翔机动力学模型及参数的不确定性,研究了滑翔机纵倾运动跟踪控制问题。首先建立俯仰角与滑块位移的关系,综合应用Lyapunov方法和反演技术设计了非线性自适应跟踪控制器,用自适应机制克服了模型参数的不确定性,在反演镇定函数中引入了积分项,进一步提高了消除稳态跟踪误差的能力,进而将得到的滑块位移作为参考输入,利用反演法设计滑块伺服控制器,使水下滑翔机能够全局渐近跟踪俯仰角参考指令。基于Lyapunov理论证明了系统的稳定性及跟踪误差的收敛性。仿真结果表明,该方法验证了控制器的全局渐近稳定性及对模型不确定参数的自适应性。

The pitch motion tracking and controlling problems of buoyancy-driven underwater glider were studied for the uncertainty of its dynamic model and parameters.The relationship between pitch angle and moving mass displacement was determined,a adaptive nonlinear tracking controller based on Lyapunov theory and backstepping was designed,the uncertainty of model parameters was solved using an adaptive mechanism,and the integral items were synthesized to reduce steady error.And then The backstepping method was used to design a moving mass servo controller by taking the moving mass displacement as a reference input.The controller can enable the underwater glider to tack a pitch angle reference command globally and asymptotically.The stability and error convergence of the system were proved based on Lyapunov theory.Simulation results show that the method can verify the global asymptotical stability of the controller and its adaptability to the uncertain parameters of model.