海流干扰作用下欠驱动AUV航路点跟踪控制

Way-Point Tracking Control of an Underactuated AUV in the Presence of Ocean Current Disturbance

针对海流干扰作用下欠驱动自主水下航行器(AUV)的航路点跟踪控制问题,建立了水平面内欠驱动AUV三自由度数学模型,以相对于水流的前向速度和角速度为虚拟输入,设计了航路点跟踪控制的运动学控制律,然后基于反演方法设计了动力学控制律,得到控制力和控制力矩。在航路点跟踪控制仿真研究中,指定AUV依次通过惯性坐标系内一系列航路点,仿真结果表明,所设计的控制律有效,欠驱动AUV能较好的完成航路点跟踪任务,并到达最终目标点。

This paper addresses the problem of way-point tracking control of an underactuated autonomous underwater vehicle （AUV） in the presence of ocean current disturbance. Kinematics and dynamics models for the underactuated AUV with three degrees of freedom in horizontal plane are established. A kinematic controller is designed with the dummy inputs of forward speed and angular velocity relative tO the current. Then a dynamic controller is derived based on the Lyapunov theory and the backstepping techniques. Simulation results show that the underactuated AUV can effectively track the way-points in the inertial frame and reach the final destination with asymptotically converged tracking errors.