水下航行器航路点跟踪控制及其仿真

Waypoint Tracking Control and Simulation of an Autonomous Underwater Vehicle

针对水下航行器在水平面内的航路点跟踪控制问题,建立了航行器的运动学和动力学模型.通过使用视线导引算法,设计了航行器的滑模控制器,同时综合应用Lyapunov方法证明了跟踪误差的全局渐近稳定性.在航行器航路点跟踪控制仿真研究中,指定航行器依次通过预先设置的一系列航路点,仿真结果表明,所设计的控制律有效,航路点跟踪误差收敛,可以对未来水下航行器的控制系统设计提供有效的理论指导和技术支持.

In order to make the autonomous underwater vehicle （AUV） follow the desired trajectory, the control system of the AUV must have a strong adaptability and robustness. Aimed at the problems of waypoint tracking control of the AUV in the horizontal plane, the kinematic and dynamic models of the vehicle were established. The sliding mode controllers of the vehicle were designed by using the line of sight guidance algorithm. Meanwhile, the integrated application of the Lyapunov method proved the global asymptotic stability of the tracking errors. In waypoint tracking control simulation, the vehicle was made to pass through the series of waypoints prearranged. The simulation results show that the designed control laws are effective and the waypoint tracking errors converge, which can provide an effective theoretical guidance and technical support for control system design of the AUV in the future.