| 引用本文: | 王宏健,陈子印,贾鹤鸣,李娟.基于反馈增益反步法欠驱动无人水下航行器三维路径跟踪控制[J].控制理论与应用,2014,31(1):66~77.[点击复制] |
| WANG Hong-jian,CHEN Zi-yin,JIA He-ming,LI Juan.Three-dimensional path-following control of underactuated unmanned underwater vehicle using feedback gain backstepping[J].Control Theory and Technology,2014,31(1):66~77.[点击复制] |
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| 基于反馈增益反步法欠驱动无人水下航行器三维路径跟踪控制 |
| Three-dimensional path-following control of underactuated unmanned underwater vehicle using feedback gain backstepping |
| 摘要点击 3088 全文点击 2181 投稿时间：2013-03-17 修订日期：2013-07-04 |
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| DOI编号 10.7641/CTA.2014.30214 |
| 2014,31(1):66-77 |
| 中文关键词 欠驱动无人水下航行器 三维路径跟踪 反步法 反馈增益 虚拟向导 |
| 英文关键词 underactuated unmanned underwater vehicle (UUV) three-dimensional path-following backstepping feedback gain virtual guidance |
| 基金项目 国家自然科学基金资助项目(50979017); 教育部高等学校博士学科点专项科研基金资助项目(20092304110008); 中央高校基本科研业 务费专项资金资助项目(HEUCFZ 1026); 哈尔滨市科技创新人才(优秀学科带头人)研究专项资金资助项目(2012RFXXG083). |
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| 中文摘要 |
| 针对欠驱动无人水下航行器的三维空间路径跟踪控制问题. 基于虚拟向导建立载体坐标系下的三维路径跟踪运动学误差模型, 首先设计跟踪误差反馈增益形式的线性控制项镇定位置跟踪系统, 避免计算虚拟控制量导数的复杂形
式; 然后基于反步法设计动力学控制器, 通过合理的选择控制器参数消除了部分非线性项, 简化了虚拟控制量的形式,同时避免了采用传统反步法设计控制器时存在的奇异值问题, 基于李雅普诺夫稳定性理论设计鲁棒反馈补偿项, 保证了闭环跟踪误差系统状态的一致最终有界. 仿真实验表明本文设计控制器能够精确跟踪三维曲线路径, 并对外界干扰具有较好的鲁棒性. |
| 英文摘要 |
| To deal with the problem of path-following control for underactuated unmanned underwater vehicle (UUV) in three-dimensional space, we employ the virtual guidance and express path-following errors in the body-fixed frame. Firstly, the linear feedback control terms are designed to stabilize the position-tracking subsystem to avoid the complexity of computing the higher-order derivative of virtual control; then the dynamic controller is designed through backstepping method. Part of the nonlinear coupled terms can be eliminated by properly selecting the controller’s parameters, which leads to the simplification of the virtual control and avoids the singularity problem encountered in traditional backstepping design. Robust feedback terms are designed based on Lyapunov stability theorem, and the uniform ultimate boundedness can be guaranteed for all states in the closed-loop path-following system. Simulation results demonstrate the high accuracy of tracking and good robustness against external disturbances achieved by the proposed controller. |