基于自适应方法的欠驱动AUV地形跟踪控制

摘要

To ensure that an underactuated autonomous underwater vehicle( AUV) has better control abili-ty in the bottom-following task,one self-adaptive bottom-following control method is designed,which can decrease the influence of the environment disturbance.Firstly,made a structure analysis for one underac-tuated AUV,and built the corresponding kinematics and dynamics models.Secondly,offered one self-a-daptive bottom-following strategy combined with fuzzy control,and designed the motion controller by active disturbance rejection control( ADRC) .Finally,made two contrast simulations to evaluate the effectiveness of the designed method.The control results show that the self-adaptive bottom-following control method has a good response capability.And compared with PID,it has better control precision under the influ-ence of interference.The research of this control method has certain significance in improving underactu-ated AUV' s intelligence under the bottom-following task.%为保证欠驱动智能水下机器人(AUV)面对干扰时具有更高精度的地形跟踪能力,提出一种自适应地形跟踪控制方法.首先,对某型欠驱动AUV进行了结构分析,建立了相关运动学及动力学模型;然后,提出一种结合模糊思想的自适应地形跟踪策略,并利用自抗扰控制建立相应运动控制器;最后,分别进行两组对比实验,以测试所设计地形跟踪方法的有效性.实验结果表明,所设计的欠驱动AUV自适应地形跟踪控制方法具有良好的响应能力,并且,相比于传统比例-积分-微分(PID)控制方法,能够更有效地抑制干扰所造成的震颤现象,具有更高的控制精确度.该控制方法的研究对提高欠驱动AUV在进行地形跟踪任务时的智能性具有一定意义.