基于模型参数不确定的欠驱动非对称自主水下航行器全局镇定控制研究

doi:10.3969/j.issn.1000-1093.2020.05.014

兵工学报 ›› 2020, Vol. 41 ›› Issue (5): 950-957.doi: 10.3969/j.issn.1000-1093.2020.05.014

基于模型参数不确定的欠驱动非对称自主水下航行器全局镇定控制研究

邸青，周竞烨，方凯，姚佳琪，李家旺

(宁波大学海运学院, 浙江宁波 315211)

收稿日期:2019-07-02 修回日期:2019-07-02 上线日期:2020-07-17
通讯作者: 李家旺(1981—),男,副教授,硕士生导师 E-mail:lijiawang@nbu.edu.cn
作者简介:邸青(1994—),男,硕士研究生。E-mail: 1279063711@qq.com
基金资助:
国家自然科学基金项目(51309133)

Global Stabilization of Underactuated Asymmetric AUVs with Unknown Model Parameters

DI Qing, ZHOU Jingye, FANG Kai, YAO Jiaqi, LI Jiawang

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

Received:2019-07-02 Revised:2019-07-02 Online:2020-07-17

摘要/Abstract

摘要： 针对欠驱动自主水下航行器水平面镇定控制过程中存在的模型参数未知等问题，设计一种基于非对称模型的全局反馈镇定控制算法。基于仅知模型参数上下界值的自适应模型参数观测器获取模型参数估计值；通过全局坐标变换，将镇定控制系统解耦为推进子系统和偏航子系统分别进行设计，消除了非对称作用项引起的耦合影响；引入2阶滤波器，使得偏航角速度在推进子系统状态未收敛至零点状态下始终具有持续激励特征，保证镇定误差收敛至零点附近的一个有界区域。李雅普诺夫稳定性分析证明了该控制算法能够在模型参数未知情况下，以任意初始条件实现镇定控制目标。数值仿真实验结果表明，该控制算法是有效的，且具有较好的控制精度和一定对未知环境干扰的鲁棒性。

关键词: 欠驱动自主水下航行器, 非对称模型, 参数不确定性, 镇定控制

Abstract: A global feedback stabilization algorithm based on asymmetric model is proposed for unknown model parameters in the control of an underactuated asymmetric AUV on the horizontal plane. An adaptive parameter observer is designed to get the estimated values of the real model parameters by knowing only the upper and lower bounds of the model parameters. The coupling effect caused by the asymmetric items is eliminated through global coordinate transformation. The control system is decomposed into propulsion subsystem and yaw subsystem which are designed, respectively. A second-order filter is introduced to keep the yaw rate with continuous excitation as long as the propulsion system does not converge to the origin. Lyapunov stability analysis indicates that the proposed algorithm can be used to realize the stabilization control under any initial condition without knowing the model uncertainties, and the stabilization errors are globally ultimately bounded. The simulated results show that the proposed controller is effective and robust. Key

Key words: underactuatedAUV, asymmetricmodel, parameteruncertainty, stabilization

中图分类号:

TP273⁺.21

邸青，周竞烨，方凯，姚佳琪，李家旺. 基于模型参数不确定的欠驱动非对称自主水下航行器全局镇定控制研究[J]. 兵工学报, 2020, 41(5): 950-957.

DI Qing, ZHOU Jingye, FANG Kai, YAO Jiaqi, LI Jiawang. Global Stabilization of Underactuated Asymmetric AUVs with Unknown Model Parameters[J]. Acta Armamentarii, 2020, 41(5): 950-957.

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第41卷第5期2020 年5月
兵工学报ACTA ARMAMENTARII
Vol.41No.5May 2020

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[4]	董早鹏，万磊，孙玉山，刘涛，李岳明，张国成. 基于非对称模型的欠驱动无人海洋运载器轨迹跟踪控制[J]. 兵工学报, 2016, 37(3): 471-481.
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[6]	李胜，胡维礼. 一类非完整系统镇定控制器的递推设计方法[J]. 兵工学报, 2009, 30(9): 1276-1280.
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基于模型参数不确定的欠驱动非对称自主水下航行器全局镇定控制研究

Global Stabilization of Underactuated Asymmetric AUVs with Unknown Model Parameters

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