超空泡航行体的反演姿态跟踪控制器设计

Backstepping attitude tracking controller for supercavitating vehicle

超空泡航行体具备不同于常规水下航行体的独特运动特性,针对具有非匹配不确定性的超空泡航行体时滞非线性动力学模型,结合反演控制、自适应控制和滑模控制方法,设计了超空泡航行体反演姿态跟踪控制器,用自适应算法对不确定因素进行了估计,利用变结构控制提高系统对不确定性及外界干扰的鲁棒性,并进行了数学仿真。仿真结果表明:该系统响应快速,具有良好的稳定性能,该控制方法应用到水下高速航行体上是可行的。

Supercavitating vehicles have special characteristics which are different from traditional underwater vehicles because of supercavitation.By employing the backstepping control,adaptive control and sliding mode control,we have designed a backstepping attitude tracking controller aiming at supercavitating vehicles with nonlinear time-delay dynamics containing unmatched uncertainties.Uncertain factors were estimated by using the adaptive algorithm,and the robustness of the system with uncertainties and external disturbance was improved by using variable structure control.The simulation indicates that the system responds rapidly and has good stability performance,which shows that our control method can be applied to the stability control of underwater high-speed vehicles.