欠驱动自主水下航行器的镇定及跟踪

Stabilization and Tracking for an Underactuated Autonomous Underwater Vehicle

针对仅带有轴向推力及偏航力矩的欠驱动自主水下航行器(AUV),研究了其在水平面内的轨迹跟踪及定点调节问题。基于Lyapunov直接法及串接-反步技术,通过采用一种带有动力学震荡器的跟踪误差变换,设计了一种统一的连续时变状态反馈控制律,并给出了参数自适应更新律以估计AUV的非线性阻力参数,使得AUV的位置及方向角的跟踪误差全局渐近收敛于零点左右的一个邻域内,该区域可以为任意小,并且,AUV的跟踪性能与外界干扰的大小无关。仿真结果证明所提出的方法是有效的。

The problem of trajectory tracking and set point regulation is investigated for an underactuated autonomous underwater vehicle （AUV） moving on the horizontal plane with only the surge force and yaw moment available. Based on Lyapunov＇s direct method and cascade-backstepping approach, an unified, continuous time varying state feedback controller is designed by adopting a tracking error transformation with a dynamic oscillator. Meanwhile, a parameter adaptive update law is proposed to estimate the nonlinear damping terms of the AUV. These controllers guarantee the position/orientation tracking errors of the AUV globally exponentially converge to a neighborhood about the origin that can be made arbitrarily small. Moreover, the tracking performance of the AUV is external disturbances independent. Simulation results validate the proposed method.