| 摘要: |
| 针对水下自主航天器AUV水平面的轨迹跟踪问题，建立时变外界干扰条件下的运动学模型以及动力学模型，将地面误差变量转换为艇体坐标变量，并推导得出其误差方程。基于Lyapunov稳定性理论研究反步滑模控制的相关算法，设计出时变干扰下的欠驱动AUV水平面轨迹跟踪控制器，最后分析了闭环控制系统中误差信号受到扰动时跟踪误差的敛散性。利用MATLAB/Simulink软件进行仿真实验，得出时变干扰作用下AUV对期望轨迹的跟踪情况，经实验验证本文设计的反步滑模控制器能有效地跟踪复杂轨迹，具有较强的稳定性和鲁棒性。 |
| 关键词: 欠驱动AUV 轨迹跟踪 反步法 滑模控制 |
| DOI： |
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| 基金项目:国家自然科学基金（51679057）；黑龙江自然科学基金（E2017014） |
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| Backstepping Sliding Mode Control of the Underactuated AUV in Horizontal Plane Trajectory Tracking Under the Time-varying Disturbance |
| YAN Zhe-ping,YANG Ze-wen,JIA He-ming,ZHOU Jia-jia,WANG Lu |
| (Harbin Engineering University, College of Automation;Northeast Forestry University, College of Mechanical and Electrical Engineering) |
| Abstract: |
| According to the AUV (Autonomous Underwater Vehicle) in the horizontal plane trajectory tracking problem, based on time-varying interference the condition of the kinematics model and dynamics model is defined, transforming the ground error variables into hull coordinates, and finding out the error equation. Based on the Lyapunov theory and the algorithm of backstepping sliding mode control, horizontal underactuated AUV trajectory tracking controller in a time-varying interference is designed. Finally, the convergence or divergence of the tracking error in closed loop control system under the error signal disturbance is analyzed. Simulation studies are conducted by MATLAB/Simulink software, and the simulation experiment of AUV on the desired trajectory under time-varying interference is obtained. The experimental results show that the back-step sliding mode controller can effectively track the complex trajectory and has strong stability and robustness. |
| Key words: Underactuated AUV Trajectory tracking Backstepping method Sliding mode control |