基于干扰观测器的AUV三维路径滑模跟踪控制

Sliding Model Tracking Control for AUV Three Dimensional Path Based on Disturbance Observer

为了确保欠驱动自主式水下机器人(AUV)在受到外界干扰情况下仍然可以实现对三维路径的跟踪控制,设计基于干扰观测器的反步滑模控制器。针对欠驱动AUV 5自由度状态方程,考虑外界干扰对AUV运动的影响,设计干扰观测器实时估计干扰;通过欠驱动AUV的状态方程与三维路径跟踪误差模型得到系统的镇定模型;利用得到的干扰估计值,设计反步滑模复合控制器来控制AUV实现三维路径跟踪,并通过Lyapunov稳定性理论证明闭环系统渐近稳定。仿真结果表明:该控制器对欠驱动AUV实现三维路径的精确跟踪有良好的控制效果和抗干扰能力。

In order to ensure that the underactuated autonomous underwater vehicle(AUV)can still track and control the 3D path in the case of external interference,a backstepping sliding mode controller based on disturbance observer is designed.According to the 5-DOF state equation of underactuated AUV,an interference observer is designed to estimate the interference in real time considering the influence of external interference on the motion of AUV.The stabilization model of the system is obtained through the state equation of the underactuated AUV and the 3D path tracking error model.A backstepping sliding mode composite controller is designed to control the AUV and realize the 3D path tracking.The closed-loop system is proved to be asymptotically stable by Lyapunov stability theory.The simulation results show that the controller has good control effect and anti-interference ability for the accurate tracking of 3D path of underactuated AUV.