基于线性工作点的水下机器人H∞鲁棒控制

H∞robust control of autonomous underwater vehicle based on linear working point

为使全驱动六自由度水下机器人(AUV)能够在水动力学参数不确定及海流扰动的情况下保证控制器的鲁棒性要求,需要合理对AUV的非线性模型进行线性化。本文基于工作点处的线性化六自由度AUV方程,通过应用加性摄动模型,得到适用于鲁棒控制的线性化模型,并设计对应的六自由度H∞鲁棒控制器。对该控制器与多自由度PID控制器的仿真试验,结果显示,控制器具有良好的信号跟踪及干扰抑制能力,验证了H∞鲁棒控制对本文提出的六自由度AUV工作点处线性模型控制的有效性。

In order to ensure the robustness of the controller in the case of a fully actuated six-DOF autonomous underwater vehicle(AUV)with uncertain hydrodynamic parameters and current disturbances,it is necessary to properly linearize the nonlinear model of the AUV.In this paper,based on the linearized six-DOF AUV equation at the working point,a suitable linearized model for robust control is obtained by applying the additive perturbation model,and a corresponding sixDOF H∞robust controller is designed.Through the simulation tests of the controller and multi-degree-of-freedom PID controller,the results show that the controller has good signal tracking and interference suppression capability,and verify the effectiveness of H∞robust control for the six-DOF AUV linear model proposed in this paper.