基于高度计信息处理的欠驱动无人水下航行器地形跟踪控制

Bottom-following control for underactuated unmanned underwater vehicle based on altimeter information processing

针对高度测量信息不准确情况下的欠驱动无人水下航行器(UUV)地形跟踪控制问题,结合欠驱动UUV的固有特性,提出了一种基于反步法的非线性海底地形跟踪控制方法。首先,针对高度计受海水温度和盐度等海洋环境的干扰而导致高度测量信息不准确的问题,采用卡尔曼滤波器对高度测量信息进行处理,提高高度信息的准确性;然后,基于Lyapunov稳定性理论和反步法设计了非线性地形跟踪控制器,并证明了控制系统的渐近稳定性;最后,分别通过仿真实验和海试实验对所提出的方法进行验证。结果表明,基于高度信息滤波处理的欠驱动UUV非线性地形跟踪控制器能够实现精确的地形跟踪控制。

Concerning the problem of bottom-following of underactuated Unmanned Underwater Vehicle （UUV） in the condition of output of the altimeter with noisy measures, combining intrinsic characteristic for underactuated UUV, a nonlinear bottom-following control method was proposed based on backstepping theorem. First, owing to the influence of seawater temperature and salinity, a Kalman filter was applied to solve the inaccurate measuring data to improve the accuracy for altimeter information. Then, a bottom-following controller was designed by resorting to backstepping and Lyapunov-based techniques, and the asymptotic convergence of the control system was proved. Finally, simulation and sea trial were performed to verify the feasibility, and the results demonstrate that the proposed nonlinear controller including processed altimeter information can achieve precise bottom-following for underactuated UUV.