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为了实现欠驱动自治水下机器人(AUV)三维航迹跟踪控制,基于非完整系统理论分析了AUV缺少横向推进器时的欠驱动控制系统特性,并验证了欠驱动AUV存在加速度约束不可积性.基于李亚普诺夫稳定性理论,利用自适应Backstepping设计连续时变的航迹点跟踪控制器,以抑制外界海流的干扰.仿真实验表明,所设计的控制器能实现欠驱动AUV对一序列三维航迹点的渐近镇定,并且航迹跟踪的精确性和鲁棒性明显优于PID控制.
In order to realize the three-dimensional tracking control of Under-actuated Underwater Vehicle (AUV), the characteristics of under-drive control system when AUV lack of lateral thrusters are analyzed based on the non-complete system theory. It is also verified that the under-actuated AUV has acceleration constraint inhomogeneity. Based on the Lyapunov stability theory, adaptive Backstepping is used to design a continuous track point tracking controller to suppress the disturbance of the ocean current. The simulation results show that the designed controller can achieve a series of three- Asymptotic stabilization of track points, and the accuracy and robustness of track tracking are obviously better than PID control.