水下动平台条件下欠驱动AUV回收方法

Research on recovery of underactuated AUV in the condition of underwater moving carrier

水下环境中,大型UUV可作为搭载平台搭载多台AUV系统以实现其作业能力的扩展。为了解决大型UUV在运动条件下对AUV的回收问题,本文研究AUV三维运动跟踪控制及回收方法。对AUV的运动模型进行分析,提出了相应回收策略。在此基础上,基于AUV模型设计反步控制器,通过李雅普诺夫定理分析了系统的稳定性。仿真结果表明,所提出的回收策略和控制器可成功实现欠驱动AUV的回收三维跟踪控制,为解决UUV在运动条件下对AUV的回收问题奠定了良好的基础。

In underwater environment,UUV of large scale can carry multiple AUVs as an underwater platform,which expands its capability of performing tasks.In order to solve the recovery problem of underactuated AUV about locomotor recovery station,this paper studies the 3D motion tracking method of AUV.Firstly,this paper establishes the model of AUV,and then proposes a recovery strategy.Furthermore,based on the model,a backstepping controller is designed,and the stability of the system is analyzed by Lyapunov theorem.The simulation results show that the proposed recovery strategy and controller successfully realizes the 3D tracking control of underactuated AUV for recovery,which is a base to solve the recovery problem of underactuated AUV about locomotor recovery station.