基于反步法的AUV深度控制研究

Research on Depth Control of AUV Based on Backstepping

为了研究水下无人潜航器(AUV)在垂直面的运动控制情况,笔者建立了其垂直面的运动模型,探讨了其深度控制策略,设计了深度控制子系统的反步控制器,通过定义虚拟误差及设计子系统控制律,运用李雅普诺夫稳定性理论解出系统的输入,使系统镇定;同时设计了PID控制器,调节控制参数,减小AUV的跟踪误差,使系统稳定。仿真验证结果表明:采用反步控制可使AUV实现无超调跟踪,改善了系统的输出,增强了安全性。

In this paper, in order to research motion control of unmanned underwater vehicle（AUV） in the vertical plane, the authors built its motion model of vertical plane and discussed strategies of depth control. The authors designed backstepping controller of subsystem depth control. Through defining fictitious error and designing control law of subsystem, The authors made system stable by using Lyapunov stability theory solved system input; meanwhile, the authors designed PID controller,adjusted controls parameters and reduced errors, which also made the system stable. Simulation verification results shows that,backstepping control can make AUV realize no-overshooting tracking, which improved system input and enhanced security.