基于非线性干扰观测器的无人船与自主水下航行器协同运动控制策略

USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer

面向水域探测场景的立体化、多样化、复杂化,基于领航-跟随编队控制的思想,提出了水面无人船(Unmanned Surface Vehicle,USV)和自主水下无人航行器(Autonomous Underwater Vehicle,AUV)跨介质异构体协同运动控制策略.首先,该控制策略考虑了未知环境干扰等因素带来的动力学建模误差,设计了非线性干扰观测器用以估计误差影响;其次,利用动态自适应前视距离改进视线法(LOS),在制导层面解决AUV欠驱动控制问题,结合级联系统分析USV-AUV编队控制问题,通过反馈线性化设计AUV跟随控制器;最后,采用李雅普诺夫理论证明了基于改进制导律的USV-AUV编队控制系统的一致全局渐进稳定.湖试结果表明,所提出的USV-AUV编队控制策略是有效的.

Facing the three-dimensional,diverse,and complex underwater detection task,this paper proposed an unmanned surface vehicle-autonomous underwater vehicle(USV-AUV)cross-domain heterogeneous cooperative control strategy based on the leader-follower method.First,the control strategy takes into account the dynamic modeling error caused by factors such as unknown environmental disturbances,and designs a non-linear disturbance observer to estimate the influence.Then,the dynamic adaptive look-ahead distance is used to improve the LOS method,which can solve the formation control problem of underactuated vehicles.The USV-AUV formation control problem is rebuilt based on the cascaded system.The AUV following controller is designed through feedback linearization.Finally,the whole system is improved uniformly,globally,and asymptoticly stable by the Lyapunov theory.The USV-AUV lake test verifies the effectiveness of the formation control strategy.