基于非对称模型的水下机器人全局指数镇定

Global exponential stabilization control of underwater vehicle based on incomplete symmetric model

针对水下机器人的水平面镇定控制问题,提出了一种基于非完全对称(前后不对称,左右对称)模型的全局指数镇定控制方法.建立了非完全对称水下机器人的运动模型,通过设计控制输入的反馈变换,得到简化的水下机器人镇定控制系统;基于非线性反步法,设计了水下机器人速度的虚拟输入,从而实现了位置和姿态角的镇定控制;通过对虚拟输入误差的镇定设计,得到了水下机器人系统的全局指数稳定控制律,并利用李雅普诺夫稳定性理论证明了所设计控制器的稳定性.最后通过仿真实验验证了所设计的反步镇定控制器的有效性和可靠性,同时通过与传统基于完全对称(前后、左右均对称)模型的水下机器人运动控制方法比较,验证了基于非完全对称模型控制算法的优越性.

Stabilization control problem of underwater vehicle was studied,and a global exponential stabilization control method based on incomplete symmetric(fore/aft is asymmetric and port/starboard is symmetric)model was proposed.Incomplete symmetric model of underwater vehicle was established,and then stabilization control system of underwater vehicle was simplified by feedback transformation designing of control input.Position and attitude of underwater vehicle were stabilized via combing of virtual input of velocities,which was designed based on nonlinear backstepping method.Global exponential stabilization control law for the underwater vehicle system was obtained through stabilization design of virtual input errors,and then the stability of the controller designed was proved by Lyapunov stability theory.Finally,simulation experiment results show the effectiveness and reliability of the backstepping stabilization controller designed,in addition,advantages of the incomplete symmetric model-based control algorithm proposed in this paper was verified by comparing with the traditional complete symmetric(both fore/aft and port/starboard are symmetric)modelbased control algorithm for underwater vehicle.