欠驱动UUV级联自适应目标跟踪控制方法研究

Research on cascaded adaptive target tracking control for underactuated UUV

研究了欠驱动水下航行器(UUV)目标跟踪控制算法的设计,基于UUV数学模型,设计了一种能够保证系统全局渐进稳定的新型级联自适应目标跟踪控制算法。与通用欠驱动UUV跟踪控制算法的设计不同,该设计考虑了水动力阻尼矩阵中非对角线上元素对控制系统的影响,通过对运动学子系统的虚拟控制来获得欠驱动UUV的纵向期望速度,并结合反步法与李雅普诺夫稳定性分析得到动力学子系统的自适应反步控制律,利用自适应项估计海流产生的慢变环境干扰,进而通过将目标跟踪系统整理成由运动学控制和动力学控制构成的非线性级联系统,为欠驱动UUV目标跟踪提出了一种级联自适应控制算法。应用级联理论证明了整个闭环控制系统的稳定性,并通过仿真验证了该方法的有效性。

The design of target tracking algorithms for underactuated unmanned underwater vehicles （UUV） was studied, and based on the nonlinear mathematic model for UUV, a cascaded adaptive target tracking control algorithm was designed to guarantee the underactuated UUV system＇ s global asymptotic stability. Different from the design of gen- eral tracking control algorithms, this design considers the influence of the off-diagonal elements of the hydrodynamic damping matrix on the control system, and obtains the longitudinal desired speed of the underactuated UUV by in- troducing the virtual control of the kinematic subsystem. Meanwhile, it uses the backstepping method combined with the Lyapunov stability analysis to obtain the adaptive backstepping control law of the kinetic subsystem, uses the adaptive item to estimate the slow varying environmental interferences caused by ocean current, and then trans- forms the target tracking control system into a nonlinear cascaded system composed of the kinematic subsystem and the kinetic subsystem to give a cascaded adaptive control algorithm for underactuated UUV target tracking. The global stability of the closed-loop system is proved by using the cascaded theory, and the effectiveness of the pro- posed design method was verified by simulation.