一种欠驱动无人水下航行器相对位置控制及其应用

A kind of under-actuated unmanned underwater vehicle relative position control and its application

针对欠驱动无人水下航行器对目标相对位置保持的需求,提出一种能使相对位置稳定的欠驱动无人水下航行器双环位置控制算法。将航行器的位置控制分解为外环位置环与内环姿态/速度环,位置环输出虚拟控制量并解耦出所需的速度命令与姿态命令,内环跟踪目标速度与目标姿态,对双环分别利用反步法设计控制器,实现欠驱动无人水下航行器的相对位置保持。将其应用到平面轨迹跟踪与编队位置保持上,仿真结果表明该方法能有效地同时实现航行器的平面轨迹跟踪与编队位置保持,保证航行器对目标的相对位置稳定。同时由于在惯性系下设计误差方程,使得位置控制简化为线性系统,相比传统本体系下的轨迹/编队控制更为简洁清晰,实现简单。

Aiming at the requirement of under-actuated unmanned underwater vehicle to maintain the relative position of the target, a dual-loop position control algorithm is proposed that can stabilize relative position. The position control is decomposed into the position loop and the attitude/speed loop. The position loop outputs the virtual control. It is decoupled into required speed command and attitude command. The inner loop tracks the target speed and target attitude. The backstepping method is used to design the controller to realize the relative position maintenance of the under-actuated unmanned underwater vehicle. It is applied to plane trajectory tracking and formation position maintenance. The simulation results show that this method can effectively realize the plane trajectory tracking and formation position maintenance of the UUV, and ensure the stability of the UUV’s relative position to the target. At the same time, due to the design of the guidance law in the inertial system, it is more concise and clearer than the double-loop control under the traditional system, and is simple to implement.