欠驱动AUV基于干扰观测器的滑模控制

Underactuated AUV Sliding Mode Control Based on Disturbance Observer

为了提高欠驱动自主水下机器人在外部干扰影响下的航向跟踪控制性能,设计一种基于非线性干扰观测器的滑模控制器。有条件地简化欠驱动自治水下机器人的水平面模型,建立简化模型的状态方程;构造非线性干扰观测器,设计基于干扰观测器的滑模控制器,根据Lyapunov稳定性理论确保闭环系统的稳定性。仿真结果表明:存在外界干扰的情况下,基于非线性干扰观测器的滑模控制器相比传统的滑模控制器,能够更好地实现水下机器人的航向跟踪控制,具有良好的抗干扰性能。

To improve the course tracking control performance of an underactuated autonomous underwater vehicle under the influence of external disturbances, a sliding mode controller based on nonlinear disturbance observer is designed. The horizontal model of the underactuated AUV is simplified conditionally, and the state equation of the simplified model is established. A nonlinear disturbance observer is constructed, and a sliding mode controller based on the disturbance observer is designed to ensure the stability of the closed-loop system according to the Lyapunov stability theory. The simulation results show that the sliding mode controller based on the nonlinear disturbance observer can better realize the course tracking control of the underwater vehicle than the traditional sliding mode controller in the presence of external disturbances, and has good anti-interference performance.