水下航行器轴向运动的初始修正自适应反演控制方法

Initial Correction Adaptive Back Stepping Control Method for Axial Motion of Underwater Vehicles

研究水下航行器在复杂水下环境中轴向运动的轨迹跟踪问题,当航行器质量及初始误差均较大时,根据传统自适应反演控制方法设计的控制器需要航行器动力系统提供较大的推力,甚至超过动力系统的最大输出。提出初始修正自适应反演控制方法对此予以改进,该方法将原来对参考信号的跟踪转换为对修正参考信号的跟踪,并采用自适应方法估计航行器的质量和未知扰动等未知参数,可以获得较好的轨迹跟踪性能且不需较大的推力。仿真结果验证了所提初始修正自适应反演控制方法的有效性。

This paper studies the trajectory tracking of axial motion for autonomous underwater vehicles in complex underwater environment.For autonomous underwater vehicles with greater masses and larger initial error,the desired control input maybe much larger than what the actual power systems can provide if we design controllers according to traditional adaptive backstepping control approach.Initial correction adaptive control scheme is proposed for mitigating the above-mentioned problem through tracking the rectified reference signal instead of original reference signal.This scheme can obtain good tracking performance without requiring the power systems to provide great power output.Simulation results are presented to demonstrate the effectiveness of the initial correction adaptive control scheme.