欠驱动智能水下机器人的自抗扰路径跟踪控制

ADRC Path-Following Control of Underactuated AUVs

为削弱欠驱动智能水下机器人(AUV)在路径跟踪过程中遇到的外界环境干扰和载体内部信号传输干扰的影响,以某欠驱动AUV为研究目标,基于自抗扰控制技术以及在Serret-Frenet坐标系下建立的路径跟踪误差方程,结合水下机器人相关运动学及动力学方程,建立了二阶自抗扰路径跟踪控制器,并进行了与传统PID控制器的对比仿真实验.仿真实验包括水平面随机干扰下的圆路径跟踪和渐变干扰下的空间螺旋线跟踪.仿真结果表明,基于自抗扰控制技术的欠驱动AUV路径跟踪控制器能够实现相应的参考路径跟踪任务,同时,相比于传统PID控制器,自抗扰路径跟踪控制器能够更有效地抑制干扰造成的颤抖、超调等现象,具有更优的控制效果.

To weaken the influence of the disturbance caused by the surroundings and signal transportation when an underactuated autonomous underwater vehicle（AUV）followed a certain path,this paper addressed a path-following control method,based on the second-order active disturbance rejection control（ADRC）,the path-following error equations in Serret-Frenet coordinate and the corresponding kinematic and dynamic models.Besides,path-following simulations were made by ADRC and traditional PID separately.The results of the simulations indicate that the controller based on ADRC can follow certain paths and compared with the controller based on traditional PID,it has a better control capability to restrain the shock,overshoot and other phenomena caused by the disturbance.