饱和输入限制下欠驱动自主水下航行器水平面航迹跟踪控制

doi:10.3969/j.issn.1000-1093.2017.11.017

兵工学报 ›› 2017, Vol. 38 ›› Issue (11): 2207-2213.doi: 10.3969/j.issn.1000-1093.2017.11.017

饱和输入限制下欠驱动自主水下航行器水平面航迹跟踪控制

江梦洁，李家旺，吕艳芳，周家炜，黄汉涛

(宁波大学海运学院, 浙江宁波 315211)

收稿日期:2017-05-08 修回日期:2017-05-08 上线日期:2018-01-03
作者简介:李家旺(1981—), 男, 副教授, 硕士生导师。E-mail: lijiawang@nbu.edu.cn
基金资助:
国家自然科学基金项目（51309133）

Path Tracking Control of Underactuated Autonomous Underwater Vehicles on Horizontal Plane within Input Saturation Limit

JIANG Meng-jie， LI Jia-wang， LYU Yan-fang， ZHOU Jia-wei， HUANG Han-tao

(Faculty of Maritime and Transportation, Ningbo University, Ningbo 315211, Zhejiang, China)

Received:2017-05-08 Revised:2017-05-08 Online:2018-01-03

摘要/Abstract

摘要： 针对控制输入存在饱和限制的欠驱动自主水下航行器水平面航迹跟踪问题，提出了一种饱和控制方法。在航迹跟踪误差方程基础上，设计了一种误差信号观测器对原有跟踪误差进行近似，以避免由于跟踪误差直接求导所引起的控制器表达式的复杂化现象；推导得到一种新的误差动力学方程，通过引入一种光滑有界函数作为输入饱和条件的近似，以及一种Nussbaum型偶函数，设计了饱和动力学控制器；根据Lyapunov理论证明了该控制器能够使得自主水下航行器在控制输入饱和限制下，可以实现对任意光滑水平面航迹的跟踪控制，并保证跟踪误差是全局最终一致有界的。仿真实验结果验证了该设计方法是有效的，且对于模型参数误差具有一定的鲁棒性。

关键词: 控制科学与技术, 欠驱动自主水下航行器, 输入饱和, 跟踪控制, 误差观测器, Nussbaum型函数

Abstract: A saturation controller is designed for the path tracking control of underactuated autonomous underwater vehicles (AUVs) on the horizontal plane within input saturation limitation. A first-order observer is designed to estimate the tracking errors to avoid complicating the controller expressions due to the direct derivation of tracking errors. An improved error dynamic model is derived. A saturated dynamic control strategy for the actual inputs is proposed by utilizing smooth bounded functions as the estimations of the saturated inputs and introducing a Nussbaum-type even function. The stability analysis via the Lyapunov’s theory shows that the proposed controller can achieve the tracking of arbitrary smooth paths of AUVs on horizontal plane within input saturation limit, and the tracking errors are globally ultimately uniformly bounded. Some simulated results are presented to illustrate the effectiveness and robustness of the proposed controller. Key

Key words: controlscienceandtechnology, underactuatedAUV, inputsaturation, trackingcontrol, errorobserver, Nussbaum-typefunction

中图分类号:

TP273⁺.2

江梦洁，李家旺，吕艳芳，周家炜，黄汉涛. 饱和输入限制下欠驱动自主水下航行器水平面航迹跟踪控制[J]. 兵工学报, 2017, 38(11): 2207-2213.

JIANG Meng-jie， LI Jia-wang， LYU Yan-fang， ZHOU Jia-wei， HUANG Han-tao. Path Tracking Control of Underactuated Autonomous Underwater Vehicles on Horizontal Plane within Input Saturation Limit[J]. Acta Armamentarii, 2017, 38(11): 2207-2213.

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饱和输入限制下欠驱动自主水下航行器水平面航迹跟踪控制

Path Tracking Control of Underactuated Autonomous Underwater Vehicles on Horizontal Plane within Input Saturation Limit

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