Serret-Frenet坐标系下AUV自适应路径跟踪控制

ADAPTIVE PATH FOLLOWING CONTROL OF AUTONOMOUS UNDERWATER VEHICLES IN SERRET-FRENET COORDINATE

考虑自治水下机器人(AUV)在水平面运动状况,针对路径跟踪控制问题,为了简化控制器推导过程,引入Serret-Frenet坐标系,并在此坐标系下建立路径跟踪误差系统;路径上的虚拟参考目标点不是距离AUV的最近点,从而放宽了控制器设计的初始条件限制;同时考虑速度规划指标并采用视线角导航,使得AUV实现有经验的舵手操舵行为.该方法充分考虑了AUV动态系统中大量参数时变的特性,对于系统内部参数变化、不确定性以及外部干扰具有很强的鲁棒性.

For the path following control of AUV in horizontal plane and simplify the controller derivation, the Serret-Frenet coordinate frame is introduced. In the Serret-Frenet coordinate frame, the path following error dynamics of the AUV is set up. The virtual reference target point on the path is not the nearest point to the AUV, which relaxes the restrictions on the initial conditions of controller design. Considering speed layout index and introducing the line-of-sight navigation, the AUV became an experienced helmsman. The control method fully considered the parameters＇ time- varying properties and has robustness for inner parameters＇ change, uncertainty, and external disturbance.