基于稳定逆的UUV路径跟踪控制

Path Following Control for UUV Using Stable Inversion

针对水下无人潜航器(Unmanned Underwater Vehicle,UUV)路径跟踪过程中存在的非最小相位特性,提出了一种基于稳定逆的UUV路径跟踪控制方法。根据稳定逆的思想,首先,求取跟踪系统内动态的有界解;通过求解过程,设计了跟踪系统基于期望轨迹的稳定逆;由稳定逆产生期望控制输入和期望的状态轨迹,反馈控制器实现了系统在线完成对期望轨迹的精确跟踪。仿真实验证实该方法可以实现UUV对规划路径的精确跟踪。

A feedback control algorithm using stable inversion is proposed owing to me presence o~ non-mmmmm phase characteristic during UUV path following process. In virtue of the idea of stable inversion, a bounded solution of internal dynamic for the system is obtained firstly. With the solution process, stable inversion of path following system is designed based on the expected path. Expected control inputs and the expected state path are generated as the outcomes using stable inversion. And the feedback control makes the exact path following for a predefined path.~Simulation has proved the efficient of the proposed method.