基于反步滑模的AUV深度控制研究

Research on Depth Control of AUV Based on Backstepping Sliding Mode

针对自主式水下无人潜航器(AUV)的深度控制,设计了基于其模型结构特点的反步滑模控制器。首先,使用反步控制理论设置参数消除了模型中的耦合项,在满足深度控制系统稳定的前提下设计滑模函数,以减小系统对外界扰动变化的灵敏性,加快系统响应速度;其次,采用准滑动模态法结合趋近率法设计控制律,降低滑模运动产生的抖振,并运用李雅普诺夫(Lyapunov)稳定性理论证明系统的稳定性;最后,与传统PID控制相比较,通过仿真验证了基于反步滑模的AUV深度控制效果的有效性、优越性。

In this paper, aiming at depth control of autonomous unmanned underwater vehicle（AUV）, the authors designed backstepping sliding mode controller based on the structure characteristics of the model. Firstly, to set the parameters to eliminate coupling terms in the model by using backstepping control theory, and the sliding mode function is designed under the premise of satisfying the stability of the depth control system, so as to reduce the sensitivity of the system to external disturbance changes and to accelerate the system response speed; secondly, to design control law by using quasi-sliding mode method and reaching law method, and to reduce the chattering generated by the sliding mode motion, and to prove the stability of the system by using Lyapunov stability theory; finally, compared with the traditional PID control, the effectiveness and superiority of the AUV depth control effect has been verified based on backstepping sliding mode.