基于滤波反步法的欠驱动AUV三维路径跟踪控制

王宏健; 陈子印; 贾鹤鸣; 李娟; 陈兴华

doi:10.16383/j.aas.2015.c130883

基于滤波反步法的欠驱动AUV三维路径跟踪控制

doi: 10.16383/j.aas.2015.c130883

1.
哈尔滨工程大学自动化学院哈尔滨 150001;
2.
北京空间机电研究所北京 100094;
3.
东北林业大学机电工程学院哈尔滨 150040

基金项目:

国家自然科学基金(E091002/50979017), 教育部高等学校博士学科点专项科研基金(20092304110008), 中央高校基本科研业务费专项资金(HEUCFZ1026), 哈尔滨市科技创新人才(优秀学科带头人)研究专项资金(2012RFXXG083)资助

详细信息

作者简介:
陈子印北京空间机电研究所工程师.2013年获得哈尔滨工程大学模式识别与智能系统专业博士学位.主要研究方向为非线性控制系统, 稳像控制, 视觉伺服控制, 并联机械系统. E-mail: chenziyin_heu@163.com

通讯作者:
王宏健哈尔滨工程大学自动化学院教授.主要研究方向为智能控制, 智能优化方法与技术.本文通信作者. E-mail: cctime99@163.com

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出版历程
- 收稿日期: 2013-09-22
- 修回日期: 2014-09-27
- 刊出日期: 2015-03-20

Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping

1.
College of Automation, Harbin Engineering University, Harbin 150001;
2.
Beijing Institute of Space Mechanics and Electricity, Beijing 100094;
3.
College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040

Funds:

Supported by National Natural Science Foundation of China (E091002/50979017), Specialized Research Fund for the Doctoral Program of Higher Education of China (20092304110008), Fundamental Research Funds for the Central Universities (HEU CFZ1026), and Harbin Science and Technology Innovation Talents of Special Fund Project (Outstanding Subject Leaders) (2012RFXXG083)

摘要

摘要: 研究了欠驱动自主水下航行器 (Autonomous underwater vehicle, AUV)的三维空间路径跟踪控制问题.针对基于虚拟向导建立的三维路径跟踪误差模型, 采用滤波反步法设计跟踪控制器,通过二阶滤波过程获得虚拟控制量的导数, 避免了直接对虚拟控制量解析求导的复杂过程, 同时滤除了高频测量噪声, 增加了系统对噪声的鲁棒性.通过设计滤波误差补偿回路, 保证了滤波信号对虚拟控制量的逼近精度.基于李雅普诺夫稳定性理论设计鲁棒项, 保证了闭环跟踪误差系统状态的渐近稳定.仿真结果表明了该控制器对噪声干扰具有一定的鲁棒性, 能够实现对三维路径的精确跟踪.
- 欠驱动自主水下航行器 /
- 三维路径跟踪 /
- 滤波反步法 /
- 虚拟向导
Abstract: This paper studies the path-following control problem for an autonomous underwater vehicle (AUV) in the three-dimensional space. With the three-dimensional path-following error model established based on the virtual guidance law, a path-following controller is designed using the command filtered backstepping method. The derivative of virtual control can be obtained by a second-order filter, which avoids the complexity to compute the analytic derivative of the virtual control, and filters out high frequency measurement noise to keep the control system more robust. A filtering error compensation loop is designed to guarantee the approximation precision between the filtered signal and the command virtual control. The robust terms are designed through Lyapunov stability theorem, then the closed-loop of path-following error system is proved asympotic stability. Finally, simulation results illustrate the good robustness of the proposed controller under noise disturbances, and accurate tracking ability in the three-dimensional space.
- Underactuated autonomous underwater vehicle (AUV) /
- three-dimensional path-following /
- command filtered backstepping /
- virtual guidance

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参考文献(36)

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基于滤波反步法的欠驱动AUV三维路径跟踪控制

doi: 10.16383/j.aas.2015.c130883

作者简介:
陈子印北京空间机电研究所工程师.2013年获得哈尔滨工程大学模式识别与智能系统专业博士学位.主要研究方向为非线性控制系统, 稳像控制, 视觉伺服控制, 并联机械系统. E-mail: chenziyin_heu@163.com

通讯作者:
王宏健哈尔滨工程大学自动化学院教授.主要研究方向为智能控制, 智能优化方法与技术.本文通信作者. E-mail: cctime99@163.com

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Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping

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留言板

基于滤波反步法的欠驱动AUV三维路径跟踪控制

doi: 10.16383/j.aas.2015.c130883

作者简介: 陈子印 北京空间机电研究所工程师.2013年获得哈尔滨工程大学模式识别与智能系统专业博士学位.主要研究方向为非线性控制系统, 稳像控制, 视觉伺服控制, 并联机械系统. E-mail: chenziyin_heu@163.com

通讯作者: 王宏健 哈尔滨工程大学自动化学院教授.主要研究方向为智能控制, 智能优化方法与技术.本文通信作者. E-mail: cctime99@163.com

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Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping

计量

出版历程

目录

作者简介:
陈子印北京空间机电研究所工程师.2013年获得哈尔滨工程大学模式识别与智能系统专业博士学位.主要研究方向为非线性控制系统, 稳像控制, 视觉伺服控制, 并联机械系统. E-mail: chenziyin_heu@163.com

通讯作者:
王宏健哈尔滨工程大学自动化学院教授.主要研究方向为智能控制, 智能优化方法与技术.本文通信作者. E-mail: cctime99@163.com