输入受限的自主水下航行器自适应反演控制

Adaptive Backstepping Control of Autonomous Undersea Vehicle with Input Limitation

针对控制输入存在限制的自主水下航行器轴向位置跟踪控制问题,采用自适应反演技术设计控制器。引入双曲正切光滑函数保证控制输入的有界,利用滑模控制项来克服未建模部分的阻尼特性,设计自适应率来估计海流速度。根据Lyapunov理论证明了该控制器能够实现对轴向位置的跟踪控制,并且保证了系统的跟踪误差是全局一致最终有界的。仿真结果表明,该控制器的输出光滑有界,并具有良好的自适应性和一定的鲁棒性。

For the axial position tracking control problem of an autonomous undersea vehicle(AUV)with input limitation,a controller is designed using the adaptive backstepping technology.The hyperbolic tangent smooth function is used to ensure bounded control input,a sliding mode control term is used to overcome the damping characteristic of the unmodeled part,and adaptation rate is designed to estimate the current speed.According to the Lyapunov theory,this controller can realize tracking control of the axial position and ensure that the tracking error of the system is globally uniform and ultimately bounded.Simulation results show that the output of the controller is smooth and bounded,and it has good adaptability and certain robustness.