复杂环境下的欠驱动智能水下机器人定深跟踪控制

Depth Control of Underactuated AUV Under Complex Environment

为使欠驱动智能水下机器人(AUV)在实际定深作业中,更好地抵抗外界和载体内部信号传输所构成的复杂环境作用,以某欠驱动AUV为研究对象,基于自抗扰控制技术和模糊控制方法,结合水下机器人相关运动学及动力学方程,利用切换控制策略,取自抗扰和模糊控制各自的优点,联合建立了欠驱动AUV模糊自抗扰定深跟踪控制器,并与基于传统比例积分微分(PID)方法的定深控制器在复杂环境下进行了对比仿真.仿真结果表明,基于模糊自抗扰控制技术的欠驱动AUV深度控制方法能够实现准确定深跟踪控制,同时,相比于传统PID控制器,模糊自抗扰深度控制方法能够更有效地抑制复杂环境下干扰所造成的超调和震颤等现象,具有更优的控制效果.

To make underactuated autonomous underwater vehicles（AUVs）have better resistance to the influence of the complex environment consisted of the working environment and signal transportation,this paper addressed a depth control method of a certain underactuated AUV,based on the active disturbance rejection control（ADRC）,fuzzy control,and the corresponding kinematic and dynamic models.The ADRC and fuzzy control were combined by one switching strategy and the new depth controller had the advantages of ADRC and fuzzy control.Besides,depth control simulations under complex environment were made by using the fuzzy-ADRC and traditional PID separately.In each simulation,there were two kinds of environment,one mainly consisting of random disturbance in shallow water area while the other mainly consisting of sudden interference in relatively deep water area.The results of the simulations indicate that the depth controller of underactuated AUV based on the fuzzy-ADRC can achieve the certain goal in the disturbance.Compared with the controller based on the traditional PID,it has a better control capability to restrain the overshoot and shock caused by complex environment.