摘要
针对自主水下航行器的路径跟踪控制问题,首先,将基于路径坐标系和虚拟向导概念建立的跟踪误差方程转换成一种新的级联系统表示形式,该级联系统由一个位置误差名义系统和与之级联的速度和航向误差子系统组成,与常规控制器求解相比,解耦了位置误差与速度和航向误差子系统;其次,利用滤波反步法对速度和航向子系统进行求解,避免了反步法对虚拟控制量解析求导引起的“计算膨胀”的不足,并通过构造辅助系统对滤波误差和输入受限下的控制量残差进行补偿,基于李雅普诺夫稳定性理论保证了速度和航向子系统的有界收敛;再次,通过级联系统理论证明闭环跟踪误差系统所有信号的一致最终有界;最后,通过仿真实验验证所提级联控制的有效性.
This paper solves the path-following control problem of an autonomous underwater vehicle(AUV).Firstly,the path-following error dynamic is established with the concept of path coordinate frame and virtual target,and then transformed into a novel cascade form,which consists of two subsystems cascaded with the interconnection function,one is a position tracking error subsystem and the other is a surge speed and yaw angle tracking error subsystem,and the cascade form decouples the position tracking error subsystem from the surge speed and yaw angle tracking error subsystem compared to the traditional solution.Then,command filtered backstepping is adopted to stabilize the surge speed and yaw angle subsystem,which can avoid the complexity and explosion in computing the analytic derivatives of virtual controls,and the filtered tracking errors and input saturation bias are compensated through constructing an auxiliary system with guaranteed bounded stability under Lyapunov theorem.Further,it can be proven that all the signals in the closed-loop are uniformly ultimately bounded.Finally,the simulation results show the effectiveness of the proposed scheme.
作者
陈子印
张利军
林喆
梁晓玲
CHEN Zi-yin†;ZHANG Li-jun;LIN Zhe;LIANG Xiao-ling(Beijing Institute of Space Mechanics and Electricity,China Academy of Space Technology,Beijing 100093,China;School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072,China;College of Marine Engineering,Dalian Maritime University,Dalian 116026,China)
出处
《控制与决策》
EI
CSCD
北大核心
2021年第12期2964-2972,共9页
Control and Decision
基金
国家重点研发计划项目(2016YFB0500702).
关键词
自主水下航行器
路径跟踪
级联系统
滤波反步法
输入受限
持续激励
autonomous underwater vehicle(AUV)
path-following
cascade system
command filtered backstepping
input saturation
persistence of excitation(PE)
