自主水下航行器自适应S面三维轨迹跟踪的仿真验证

Simulation and verification of an adaptive S-plane three-dimensional trajectory tracking control for autonomous underwater vehicles

[目的]旨在研究非线性六自由度自主水下航行器(AUV)的轨迹跟踪问题。[方法]为此,设计三维轨迹变前视距离视线(LOS)导引律,利用李雅普诺夫稳定性判据证明此导引律的稳定性,使用设计的自适应S面控制算法对AUV的航向角、纵倾角和纵向速度进行控制。然后,以REMUS 100 AUV为例,利用Matlab软件分别对AUV的航向角、纵倾角和纵向速度控制及其空间直线、曲线轨迹跟踪进行仿真,以验证所提导引律的有效性。[结果]结果表明:对于非线性控制而言,相比于传统的S面控制,自适应S面控制可降低控制参数整定的难度,抗干扰能力更强;而且,相比于传统的LOS导引律,所提导引律可使AUV更快地跟踪上参考轨迹。[结论]所设计的轨迹跟踪控制算法能够实现对AUV的三维轨迹跟踪,并改善AUV的操纵性。

[Objective]This paper aims to study the problem of nonlinear six-degrees-of-freedom(DOFs)autonomous underwater vehicle(AUV)trajectory tracking.[Methods]To this end,the line-of-sight(LOS)guidance law of three-dimensional trajectory with variable forward-looking distance is designed,and the stability of the guidance law is proved by Lyapunov stability criterion,and the adaptive S-plane control is used to control the heading,trim angle and longitudianal velocity of AUV.Moreover,taking the REMUS 100 AUV as an example,Matlab-based simulation on the control of the heading,trim angle and longitudinal velocity and the space straight line and curve trajectory tracking are carried out to verify the validity of the proposed LOS guidance law.[Results]The results show that,for the nonlinear AUV control,compared with the traditional S-plane control,the adaptive S-plane control can reduce the difficulty of tuning control parameters and has stronger anti-jamming ability.Compared with the traditional LOS guidance law,the designed LOS guidance law can make AUV track the reference trajectory faster.[Conclusions]The designed trajectory tracking control algorithm can realize the three-dimensional trajectory tracking for AUV,and be used to improve the vehicle’s maneuverability.