基于动态面的AUV水平面轨迹跟踪滑模控制

Sliding Mode Control for Horizontal Trajectory Tracking of AUV Based on Dynamic Surface

水下自主航行器(Autonomous Underwater Vehicle,AUV)是一种新型的海洋勘探和水下作业的无人水下平台,针对水下自主航行器AUV的水平面轨迹跟踪问题,建立了欠驱动AUV水平面运动学及动力学模型,建立了水平面轨迹误差方程.根据动态面滑模变结构控制理论,设计了扰动观测器来观测外界扰动,并引入低通滤波器来克服对虚拟控制变量求导时出现的微分爆炸现象,从而设计出AUV水平面轨迹跟踪控制器.经仿真验证,控制器能够实现AUV在水平面上的航速与角度的跟踪,并能够稳定控制其轨迹跟踪误差.

Autonomous Underwater Vehicles(AUVs)are emerging unmanned underwater platforms for marine exploration and underwater operations.To address the horizontal trajectory tracking problem of AUVs,this study establishes the kinematic and dynamic models for underactuated AUVs and formulates the horizontal trajectory error equations.Leveraging the principles of dynamic surface sliding mode control,a disturbance observer is designed to estimate external disturbances.Additionally,a low-pass filter is introduced to mitigate the issue of differential explosions during derivative calculations of virtual control variables.These efforts lead to the development of a controller for AUV horizontal trajectory tracking.Through simulation validation,the controller effectively enables AUVs to track their desired horizontal trajectory in terms of velocity and angles while stabilizing trajectory tracking errors.