基于自适应滤波反步法的深潜救生艇定位控制

Positioning control of deep submergence rescue vehicle based on adaptive command filtered backstepping method

考虑深潜救生艇动力定位系统中的参数不确定性和未知慢变干扰,利用滤波反步法设计了基于模糊系统的自适应控制规律.首先,在深潜救生艇的建模过程中考虑了推进器的动态特性,但使得系统的阶数增加;然后,为了简化控制形式,在控制器的设计中引入二阶滤波器来逼近虚拟控制信号及其导数值,避免了复杂的求导过程;最后针对系统中的耦合非线性和未知慢变干扰,设计了自适应模糊系统来对其进行估计和补偿.利用基于李雅普诺夫稳定性理论证明了跟踪误差和参数估计误差是一致最终有界的.针对某一深潜救生艇的缩小模型进行仿真实验,验证了所设计控制器的有效性.

Considering the system uncertainties and unknown disturbances of deep submergence rescue vehicle（DSRV）,the adaptive fuzzy control law was designed using command filtered backstepping method.Firstly,the thruster dynamics increased the system′s order in the modeling of DSRV,thus the controller was more difficult to design.Secondly,in order to simplify control style and avoid derivation process,a 2-order filter was introduced in the backstepping controller design to approximate virtual signal and its derivative.Lastly,an adaptive fuzzy control system was designed to estimate the coupled nonlinearity and unknown disturbance.In addition,the tracking error and estimating error were proved to be uniformly ultimate bounded by Lyapunov theory.Simulation results verified the effectiveness of the proposed controller through scale model of the DSRV.