欠驱动UUV的空间直线路径跟踪控制

摘要

A path tracking control approach based on line of sight guidance is proposed for underactuated unmanned underwater vehicle ( UUV). Based on the line of sight guidance approach, error model for tracking is established. The position error control can be transformed into the combination of speed control, heading control and pitch control. Hence,the 6 degree of freedom( DoF) output space is simplified into 3 DoF output space. The controllers are designed respectively for the reduced 3 DoF motion, and the stability of the controllers are proved formally. A simulation is held to track a straight line which parallels the x axis, and the results prove the effectiveness of the approach.%针对欠驱动无入水下航行器(UUV)设计了基于视距导航法的路径跟踪控制方法.采用视距导航法建立欠驱动UUV的路径跟踪误差模型将位置误差控制转换为航速控制、艏向角控制和纵倾角控制,使得路径跟踪问题的输出空间从6个自由度降为3个自由度.对简化的3个自由度设计控制器,并证明了控制器的稳定性.最后以空间平行于x轴的直线为参考路径进行了路径跟踪控制仿真,验证了该方法的有效性.