基于自适应反步滑模的AUV推进器容错控制

Fault-tolerant Control of AUV Thruster Based on Adaptive Backstepping Sliding Mode

为了实现自主水下航行器(AUV)在推进器故障的情况下对运动控制的鲁棒性要求,针对AUV的六自由度非线性矢量运动模型,设计了自适应反步滑模运动跟踪控制器,并在推力分配中考虑推进器故障特点,建立连续时变的故障模型。结合故障信息,基于伪逆法技术,在调节控制器配置结构功能的基础上增加了对故障的调节功能,可以通过更改控制输入对故障进行修正,对不同的故障类型分别采取故障调节和控制重构的方法实现推进器故障状态下的容错控制,有效提高了容错控制算法的应用普适性。在仿真中,通过模拟多种不同的故障模式,验证了自适应容错控制器在推进器故障情况下对AUV运动控制的有效性。

To achieve the robustness requirements of an autonomous undersea vehicle(AUV)for motion control in the case of thruster failure,this study designs an adaptive backstepping sliding mode motion tracking controller for the six-degree-of-freedom nonlinear vector motion model of the AUV and uses it in the thrust allocation.In the thrust distribution,the fault characteristics of the thruster are considered,and a continuous time-varying fault model is established.The fault adjustment function is added by incorporating the fault information,through the pseudo-inverse technique,based on the configuration of the structure function of the adjustment controller.The control input can be changed to correct the fault,and the fault adjustment and control reconstruction are adopted for different types of faults.This method realizes a fault-tolerant control under the fault state of the thruster and effectively improves the application universality of the fault-tolerant control algorithm.A variety of failure modes are simulated to verify the effectiveness of the adaptive fault-tolerant controller for AUV motion control in the case of thruster failure.