扰动不确定的AUV改进反步控制

Improved Backstepping Control of AUV with Model Uncertainty and External Disturbance

论文主要研究AUV强非线性、强耦合及水动力参数摄动等模型不确定性以及外界干扰作用条件下的操纵控制问题。为此,将外界干扰及水动力项合并成不确定扰动项,通过设计扩展状态观测器估计不确定扰动项对控制器进行补偿,通过设计反步法控制器以解决强非线性强耦合AUV控制难的问题,采用TD微分跟踪器代替微分及加入抗饱和积分对反步法控制器进行了改进。仿真结果表明,对于非线性AUV的控制,在水动力参数不确定的情况下,控制器仍能实现较好的控制,且其对外界的干扰有较强的鲁棒性。所设计滤波反步控制算法能较好地实现AUV的操纵控制。

This paper mainly studies the manipulation and control problems under the conditions of AUV strong nonlinearity,strong coupling and hydrodynamic parameter perturbation and external disturbances. For this reason,the external disturbance and the hydrodynamic term are combined into uncertain disturbance terms,and the controller is compensated by designing an extended state observer to estimate the uncertain disturbance term,and the inverse controller is designed to solve the difficult problem of strong nonlinear and strong coupling AUV control. TD differential tracker is used instead of differential and anti-windup is added to improve the inverse controller. The simulation results show that for the nonlinear AUV control,the controller can still achieve better control when the hydrodynamic parameters are uncertain,and it has strong robustness to external disturbances. The designed filter anti-jamming control algorithm can better realize the manipulation and control of AUV.