基于观测器的AUV定深滑模容错控制

Observer Based Sliding Mode Fault-Tolerant Control for Autonomous Underwater Vehicle with Fixed Depth

为了保证欠驱动自治水下机器人(AUV)在受到外界干扰以及舵出现故障情况下仍具有良好的定深性能,提出了一种基于干扰故障观测器的滑模容错控制器。首先针对带有干扰和故障项的AUV六自由度模型进行解耦得到AUV的垂直面模型,将垂直面模型化为向量形式;然后设计干扰故障观测器观测出干扰和故障,并由观测得到的干扰和故障值设计滑模控制器(SMC);最后通过Lyapunov定理证明稳定性并进行仿真验证,仿真结果表明提出的控制器具有良好控制效果。

In order to ensure the depth determination performance of under actuated autonomous underwater vehicle(AUV)under the condition of external disturbance and rudder failure,a sliding mode fault-tolerant controller based on disturbance fault observer is proposed.Firstly,the AUV 6-DOF model with interference and fault terms was decoupled to obtain the vertical plane model of AUV,and the vertical plane model was transformed into vector form.Then,the disturbance observer was designed to detect the disturbance and fault,and the sliding mode controller was designed based on the disturbance and fault values.Finally,the stability was proved by Lyapunov theorem.The simulation results show that the proposed controller has good control effect.