AUV的精确航迹跟踪系统的鲁棒控制

Robust control research for AUV trajectory control system

为了解决外界海洋环境干扰下水下无人航行器(AUV)的精确航迹跟踪控制问题,针对欠驱动AUV动力学运动模型不确定性,将三维航迹跟踪控制分解为水平面和垂直面跟踪控制问题,分别建立了AUV水平面和垂直面动力学模型,在设计模型时考虑了线性近似产生的误差、不确定性和外界干扰的影响,根据鲁棒H∞控制理论设计了航向控制器和纵倾控制器.仿真结果表明,系统存在外界海流情况下,AUV能够克服外界干扰海流的影响运动到设定航迹上,跟踪误差收敛于0,控制效果良好.文中所设计的鲁棒H∞控制器能够有效克服外界干扰的影响,较精确的实现了航迹跟踪.

To solve the trajectory control problem exactly for Autonomous Underwater Vehicle（AUV） under external marine environment disturbance.Robust H∞ controller is proposed for underactuated AUV trajectory tracking system.The three dimensional trajectory controller was decomposed into the horizontal plane and vertical plane.After that,the dynamic models with the influence of linearization errors,uncertainties and external disturbance were proposed in the horizontal plane and vertical plane respectively.Then the heading controller and pitch controller were designed based on the robust H∞ theory.The simulation result shows that the method can overcome outside disturbance of constant ocean current and ensure the precision track,where the tracking error can converge to zero.The robust H∞ controller designed for AUV is effectively and can be applied to the tracking system.