计算机工程与应用2017，Vol.53Issue(11)：26-30,5.DOI:10.3778/j.issn.1002-8331.1701-0283
基于高增益观测器的AUV水平面轨迹跟踪控制
Horizontal trajectory tracking control of AUV based on high gain observer
摘要
Abstract
In this paper, through the study of underactuated AUV in horizontal plane motion, according to the plane trajec-tory tracking control of AUV in nonholonomic constraints, the model of coupling and nonlinear, current interference and the accuracy of the tracking problem is studied, using high gain observer backstepping control method for underactuated AUV trajectory tracking control. The AUV ground coordinate system and the hull coordinate system are defined, and the conversion of the ground coordinate system to the hull coordinate system is complete. The kinematic model and dynamic model of the horizontal plane of the under actuated AUV are established. The underactuated AUV proposes a high gain observer backstepping control scheme, under the premise of ensuring the stability of the tracking system, can effectively improve the tracking accuracy, can eliminate the influence of interference on the control effect, and makes the control input to meet practical engineering constraints. In this paper, the stability of the control method is proved by Lyapunov stability theory. The effectiveness of the designed controller is verified by numerical simulation.关键词
欠驱动自主水下航行器(AUV)/高增益观测器/反步法/水平面/轨迹跟踪Key words
underactuated Autonomous Underwater Vehicle(AUV)/high gain observer/backstepping method/horizontal plane/trajectory tracking分类
信息技术与安全科学引用本文复制引用
杨泽文,贾鹤鸣,宋文龙,朱传旭,周佳加,李元..基于高增益观测器的AUV水平面轨迹跟踪控制[J].计算机工程与应用,2017,53(11):26-30,5.基金项目
中央高校基本科研业务费专项资金资助项目(No.2572014BB03) （No.2572014BB03）
国家自然科学基金(No.31270757,No.31470714, No.51609048). （No.31270757,No.31470714, No.51609048）
