基于LESO无人水下航行器鲁棒动态面悬停控制

Robust dynamic surface controller for hovering control of unmanned underwater vehicle based on LESO

针对时变未知环境干扰及模型不确定下的全驱动型无人水下航行器(UUV)的悬停控制问题,提出了一种基于线性扩张状态观测器(LESO)的鲁棒动态面控制算法.首先,根据系统模型设计LESO在线估计时变环境力与模型不确定性引起的复杂干扰;然后,基于标称模型和LESO估计的UUV状态,采用反步法设计控制器,并引入动态面控制技术得到平滑的虚拟控制律导数,同时在控制律中引入自适应鲁棒项来补偿级联控制系统的不确定性;最后,证明了UUV闭环级联控制系统的所有误差信号一致最终有界.通过对一艘全驱动型UUV的仿真实验,验证了该方法的有效性.

A robust dynamic surface control algorithm based on linear extended state observer(LESO) was proposed for hovering control of unmanned underwater vehicle(UUV) with time-varying unknown environment disturbance and model uncertainty.Firstly, LESO was designed to estimate the time-varying environmental forces and the complex interference caused by model uncertainty online based on the system model. Then, backstepping method was adopted to design the controller based on the nominal model and the UUV state input by LESO.Dynamic surface control technology was introduced to obtain a smooth virtual control law derivative. And the adaptive robust term was introduced into the control law to compensate for the uncertainty of the cascade control system.Finally,it is proven that all error signals of the UUV closed-loop cascade system are consistent and ultimately bounded.The performance and effectiveness of the method were verified by the simulation experiment of a full-actuated UUV.