欠驱动水下机器人航迹跟踪控制

摘要

针对欠驱动水下机器人强非线性、模型不确定及存在外界未知干扰等特点,提出自适应模糊反演滑模控制系统,解决其水平面航迹跟踪问题.首先,采用模糊逻辑系统逼近模型未知函数,将反演思想与滑模控制技术相结合,设计反演滑模控制器；然后对水下机器人纵向速度进行控制,将航向角作为航迹跟踪误差的虚拟输入,设计航向角的镇定函数和航迹参数的变化率,实现水下机器人的航迹跟踪；最后使用李亚普诺夫稳定性定理,证明控制系统的稳定性.仿真实验表明,设计的控制系统能有效地处理水下机器人模型不确定性和外界干扰,控制性能良好,具有极强的鲁棒性,且避免了执行机构的抖振现象.%To address the problem of path following of underactuated autonomous underwater vehicles (AUV) with parameter uncertainties and external disturbances, an adaptive fuzzy backstepping sliding mode system is designed. Firstly, the fuzzy logic system was used to approximate the unknown system function and backstepping sliding mode controller was designed by combining sliding mode control tech nology with backstepping thought. Then the vertical speed was controlled and the heading angle was as input of path following error, designing calm function and the change rate of following parameter. Final ly , using Lyapunov stable theory to prove the stability of the controller. Simulation experiments show that the control system has good adaptability and robustness in case of parameter uncertainties and external disturbances to avoid shaking of performance.