复杂扰动下水下机器人的轨迹精确跟踪控制

Accurate track control of unmanned underwater vehicle under complex disturbances

[目的]针对外界复杂干扰下水下机器人三维轨迹精确跟踪控制的问题,提出一种基于有限时间扰动观测器的非奇异终端滑模控制方法。[方法]设计非奇异终端滑模轨迹跟踪控制器,保证跟踪误差在有限时间内精确收敛到零。在外界多维度时变干扰下,设计有限时间扰动观测器,提高系统的抗干扰能力。[结果]利用Lyapunov函数证明所设计控制策略可以有限时间稳定。采用MATLAB进行仿真实验,在阶跃扰动下与反步滑模控制方法仿真对比,表明所提方法可实现轨迹的精确跟踪。[结论]研究结果可为水下机器人的三维轨迹精确跟踪提供解决思路。

[Objectives]This paper presents a non-singular terminal sliding mode track control method based on a finite-time disturbance observer to solve the problem of accurately tracking and controlling an the3D trajectory of an unmanned underwater vehicle under complex external disturbances.[Methods]A nonsingular terminal sliding mode track controller is designed to ensure that the tracking error converges to zero accurately within a limited time.A finite-time disturbance observer is designed to improve the anti-jamming ability of the system under external multidimensional time-varying disturbances.[Results]The Lyapunov function is used to prove that the designed control strategy can remain stable for a limited time.MATLAB is used for the simulation experiment,and a comparison with the backstepping sliding mode control method under step disturbance shows that the method presented in this paper achieves accurate trajectory tracking.[Conclusions]The results of this paper can provide a solution for accurately tracking the 3D trajectories of unmanned underwater vehicles.