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第11卷第2期 智能系统学报 Vol.11 No.2 2016年4月 CAAI Transactions on Intelligent Systems Apr.2016 D0I:10.11992/is.201512015 欠驱动AUV全局无抖振滑模轨迹跟踪控制 马利民 (中国人民解放军海军驻锦州地区军事代表室,辽宁锦州121000) 摘要:研究了具有控制输入及速度约束的欠驱动自主水下航行器(Autonomous underwater vehicle,AUV)全局轨迹 跟踪控制问题。首先,将AUV运动学特性线性化,设计虚拟速度及航向角指令,解决传统反步法中速度跳变问题,满 足了控制输入及速度约束条件:然后,结合动力学特性,采用自适应无抖振滑模技术,设计了欠驱动AV的全局轨迹 跟踪控制器,解决了Y山等滑模控制中无法保证航向跟踪控制问题。从工程应用角度出发,有界估计的自适应滑模 控制器在AUV具有较大参数不确定及未知环境扰动条件下,表现出更好的控制性能。最后,基于Lyapunov稳定性 理论的完整分析证明及仿真实验,表明了该控制器对系统不确定的鲁棒性,能够实现控制输入及速度约束的欠驱动 AUV全局轨迹跟踪控制。 关键词:自主水下航行器:全局控制;滑模控制:轨迹跟踪;反步法;自适应;多约束条件;Lyapunov方法 中图分类号:TP391文献标志码:A文章编号:1673-4785(2016)02-0200-08 中文引用格式:马利民.欠驱动AUV全局无抖振滑模轨迹跟踪控制[J].智能系统学报,2016,11(2):200-207. 英文引用格式:MA Limin.Global chattering--free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles[J].CAAI transactions on intelligent systems,2016,11(2):200-207. Global chattering-free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles MA Limin Navy Military Representative Office in Jinzhou,Jinzhou 121000,China) Abstract:To investigate the global trajectory tracking control problem of an underactuated autonomous underwater vehicle (AUV)with control input and velocity constraints,this study first linearized the kinematics to determine the commands of pseudo velocities and yaw angle.These commands solved the speed jump problem in the traditional backstepping method and ensured that the control input and velocity constraints were satisfied.In the second design of the dynamics,an adaptive chattering-free sliding mode technique was used to achieve the global trajectory track- ing control of an underactuated AUV,which improved the essential flaws in the work by Yu that cannot guarantee yaw angle tracking.The robust adaptive sliding mode controller with bound estimation achieved enhanced perform- ance for a general class of AUVs in the presence of possibly large parameter uncertainty and unknown environmental disturbances from a practical application viewpoint.Finally,complete stability analysis based on Lyapunov theorem and simulations demonstrated the robustness of the proposed controller to systematical uncertainties,as well as the global tracking ability of underactuated AUVs with control input and velocity constraints. Keywords:autonomous underwater vehicle;global control;sliding mode control;trajectory tracking;backstep- ping;adaptive;constraint;Lyapunov method 随着人类在海洋资源勘探和开发领域的不断加 收稿日期:2015-12-09. 深,使得自主水下航行器(autonomous underwater ve- 基金项目:国家自然科学基金项目(51179038,51105088). 通信作者:马利民.E-mail:1026809958@qq.com. hicle,AUV)越来越得到重视,对其运动控制技术的第 11 卷第 2 期 智 能 系 统 学 报 Vol.11 №.2 2016 年 4 月 CAAI Transactions on Intelligent Systems Apr. 2016 DOI:10.11992 / tis.201512015 欠驱动 AUV 全局无抖振滑模轨迹跟踪控制 马利民 (中国人民解放军海军驻锦州地区军事代表室,辽宁 锦州 121000) 摘 要:研究了具有控制输入及速度约束的欠驱动自主水下航行器(Autonomous underwater vehicle, AUV)全局轨迹 跟踪控制问题。 首先,将 AUV 运动学特性线性化,设计虚拟速度及航向角指令,解决传统反步法中速度跳变问题,满 足了控制输入及速度约束条件;然后,结合动力学特性,采用自适应无抖振滑模技术,设计了欠驱动 AUV 的全局轨迹 跟踪控制器,解决了 Yu 等滑模控制中无法保证航向跟踪控制问题。 从工程应用角度出发,有界估计的自适应滑模 控制器在 AUV 具有较大参数不确定及未知环境扰动条件下,表现出更好的控制性能。 最后,基于 Lyapunov 稳定性 理论的完整分析证明及仿真实验,表明了该控制器对系统不确定的鲁棒性,能够实现控制输入及速度约束的欠驱动 AUV 全局轨迹跟踪控制。 关键词:自主水下航行器;全局控制;滑模控制;轨迹跟踪;反步法;自适应;多约束条件;Lyapunov 方法 中图分类号:TP391 文献标志码:A 文章编号:1673⁃4785(2016)02⁃0200⁃08 中文引用格式:马利民. 欠驱动 AUV 全局无抖振滑模轨迹跟踪控制[J]. 智能系统学报, 2016, 11(2): 200⁃207. 英文引用格式:MA Limin. Global chattering⁃free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles[J]. CAAI transactions on intelligent systems, 2016, 11(2): 200⁃207. Global chattering⁃free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles MA Limin (Navy Military Representative Office in Jinzhou, Jinzhou 121000, China) Abstract:To investigate the global trajectory tracking control problem of an underactuated autonomous underwater vehicle (AUV) with control input and velocity constraints, this study first linearized the kinematics to determine the commands of pseudo velocities and yaw angle. These commands solved the speed jump problem in the traditional backstepping method and ensured that the control input and velocity constraints were satisfied. In the second design of the dynamics, an adaptive chattering⁃free sliding mode technique was used to achieve the global trajectory track⁃ ing control of an underactuated AUV, which improved the essential flaws in the work by Yu that cannot guarantee yaw angle tracking. The robust adaptive sliding mode controller with bound estimation achieved enhanced perform⁃ ance for a general class of AUVs in the presence of possibly large parameter uncertainty and unknown environmental disturbances from a practical application viewpoint. Finally, complete stability analysis based on Lyapunov theorem and simulations demonstrated the robustness of the proposed controller to systematical uncertainties, as well as the global tracking ability of underactuated AUVs with control input and velocity constraints. Keywords:autonomous underwater vehicle; global control; sliding mode control; trajectory tracking; backstep⁃ ping; adaptive; constraint; Lyapunov method 收稿日期:2015⁃12⁃09. 基金项目:国家自然科学基金项目(51179038,51105088). 通信作者:马利民. E⁃mail:1026809958@ qq.com. 随着人类在海洋资源勘探和开发领域的不断加 深,使得自主水下航行器(autonomous underwater ve⁃ hicle, AUV)越来越得到重视,对其运动控制技术的
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