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中南大学学报(自然科学版)

Journal of Central South University

第48卷    第1期    总第269期    2017年1月

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文章编号:1672-7207(2017)01-0069-08
基于干扰观测器的欠驱动AUV自适应反演控制
陈巍,魏延辉,曾建辉,胡佳兴,王泽鹏

(哈尔滨工程大学 自动化学院,黑龙江 哈尔滨,150001)

摘 要: 针对未知外界干扰存在的情况,提出一种基于非线性干扰观测器(NDO)的自适应反演控制,用于改善欠驱动自治水下机器人(AUV)深度跟踪控制性能。首先对欠驱动自治水下机器人的垂直面模型进行有条件的简化,得到新的运动学及动力学方程,建立简化后模型的状态方程;其次根据系统状态方程构建非线性观测器,设计自适应反演控制器,输出控制量根据李雅普诺夫稳定原理推导得出,确保包含非线性干扰观测器及自适应反演控制器在内的控制系统的一致渐进稳定性。研究结果表明:所设计的非线性干扰观测器以及自适应反演控制器可以实现欠驱动自治水下机器人在存在外界未知干扰情况下深度轨迹跟踪,具有较强的鲁棒性。

 

关键词: 欠驱动自治水下机器人;深度跟踪;非线性干扰观测器;自适应;反演法

Adaptive backstepping control of underactuated AUV based on disturbance observer
CHEN Wei, WEI Yanhui, ZENG Jianhui, HU Jiaxing, WANG Zepeng

College of Automation, Harbin Engineering University, Harbin 150001, China

Abstract:In order to improve the depth tracking control performance of underactuated autonomous underwater vehicle (AUV), an adaptive backstepping controller based on nonlinear disturbance observer (NDO) was proposed considering unknown external disturbance. Firstly, the vertical plane motion model of underactuated AUV was simplified according to some limited conditions. The new kinematics and dynamics equations were obtained, and the state equations of simplified model were established as well. Secondly, on the basis of state equations, a nonlinear disturbance observer was constructed. In the meanwhile, an adaptive backstepping controller was designed based on NDO, and then the control output was obtained according to the Lyapunov stability principle, which globally guaranteed the asymptotical stability of the whole control system. The results show that designed NDO and adaptive backstepping controller can effectively achieve depth trajectory tracking of underactuated AUV in the case of unknown external disturbance, and show strong robustness to disturbance.

 

Key words: underactuated AUV; depth tracking; nonlinear disturbance observer; adaptive control; backstepping control

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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