华中科技大学学报（自然科学版）2017，Vol.45Issue(10)：117-121,5.DOI:10.13245/j.hust.171022
基于反步法的欠驱动水下机器人鲁棒定深控制
Robust depth control of under-actuated underwater vehicles based on backstepping
摘要
Abstract
For the fixed-depth cruising mission of an under-actuated underwater vehicle equipped with a stern propeller and rudders ,an asymptotic line-of-sight guidance angle with respect to the depth er-ror was designed in the kinematics layer ,in order to transform coupling depth and pitch control into single pitch control ,w hich solved the problem of the under-actuated configuration in heave .Subse-quently ,a full system Lyapunov function candidate via the backstepping technique was chosen in the dynamics layer ,avoiding the complicated cascade analysis between kinematics and dynamics subsys-tems as well as improving the portability of the algorithm .Finally ,numerical results show that the designed controller has a certain robustness against unknow n ocean currents ,and can guarantee the under-actuated underwater vehicle to accurately track the desired depth .关键词
自主水下机器人/鲁棒控制/欠驱动/视线制导/反步法Key words
autonomous underwater vehicle/robust control/under-actuation/line-of-sight guidance/backstepping分类
交通工程引用本文复制引用
于曹阳,向先波,张嘉磊,张琴..基于反步法的欠驱动水下机器人鲁棒定深控制[J].华中科技大学学报（自然科学版）,2017,45(10):117-121,5.基金项目
国家自然科学基金资助项目 (51579111 ,51209100 ) （51579111 ,51209100 ）
海洋工程国家重点实验室基金资助项目(201504 ) . （201504 ）
