| 引用本文: | 杜佳璐,李健.欠驱动水下机器人三维轨迹跟踪有限时间预设性能控制[J].控制理论与应用,2022,39(2):383~392.[点击复制] |
| DU Jia-lu,LI Jian.Finite-time prescribed performance control for the three-dimension trajectory tracking of underactuated autonomous underwater vehicles[J].Control Theory and Technology,2022,39(2):383~392.[点击复制] |
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| 欠驱动水下机器人三维轨迹跟踪有限时间预设性能控制 |
| Finite-time prescribed performance control for the three-dimension trajectory tracking of underactuated autonomous underwater vehicles |
| 摘要点击 1677 全文点击 603 投稿时间：2021-02-01 修订日期：2021-06-09 |
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| DOI编号 10.7641/CTA.2021.10113 |
| 2022,39(2):383-392 |
| 中文关键词 欠驱动水下机器人 三维轨迹跟踪 有限时间 预设性能 超螺旋算法 |
| 英文关键词 underactuated autonomous underwater vehicles three-dimension trajectory tracking finite time prescribed performance super-twisting algorithm |
| 基金项目 国家自然科学基金项目(51079013), 大连市科技创新基金项目(2020JJ26GX020)资助. |
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| 中文摘要 |
| 本文研究了具有不确定动态和未知时变海洋环境扰动的欠驱动水下机器人(AUVs)三维轨迹跟踪有限时间
预设性能控制问题, 提出新型预设性能函数和误差映射函数, 将受预设性能限制的轨迹跟踪误差转变为非受限的变
换后误差; 构造新的超螺旋(ST)扩张状态观测器, 在有限时间内实时估计AUV不确定动态和未知时变海洋环境扰动
引起的总扰动; 基于上述, 设计新的ST控制律, 实现了欠驱动AUV三维轨迹跟踪有限时间预设性能控制. 理论分析
证明了最终的AUV三维轨迹跟踪闭环控制系统的稳定性, 仿真及仿真比较结果验证了所设计控制律的有效性和优
越性. |
| 英文摘要 |
| In this paper, the finite-time prescribed performance control problem is investigated for the three-dimension
(3D) trajectory tracking of underactuated autonomous underwater vehicles (AUVs) with uncertain dynamics and unknown
time-varying ocean environment disturbances. A novel prescribed performance function and an error mapping function are
proposed to transform the trajectory tracking errors constrained by the prescribed performance into the unconstrained transformed
errors. A new super-twisting (ST) extended state observer is constructed to online estimate the total disturbances
lumped by the uncertain dynamics of AUVs and unknown time-varying ocean environment disturbances in a finite time.
On the basis of the above, a new ST control law is designed to achieve the 3D trajectory tracking of underactuated AUVs
with the prescribed performance in a finite time. Theoretical analyses prove the stability of the resulting AUV 3D trajectory
tracking closed-loop control system. The simulation and the simulation comparison results verify the effectiveness and the
superiority of the designed control law. |