机械制造与自动化2024，Vol.53Issue(3)：209-214,6.DOI:10.19344/j.cnki.issn1671-5276.2024.03.045
基于干扰观测器的AUV三维路径滑模跟踪控制
Sliding Model Tracking Control for AUV Three Dimensional Path Based on Disturbance Observer
摘要
Abstract
In order to ensure that the underactuated autonomous underwater vehicle(AUV)can still track and control the 3D path in the case of external interference,a backstepping sliding mode controller based on disturbance observer is designed.According to the 5-DOF state equation of underactuated AUV,an interference observer is designed to estimate the interference in real time considering the influence of external interference on the motion of AUV.The stabilization model of the system is obtained through the state equation of the underactuated AUV and the 3D path tracking error model.A backstepping sliding mode composite controller is designed to control the AUV and realize the 3D path tracking.The closed-loop system is proved to be asymptotically stable by Lyapunov stability theory.The simulation results show that the controller has good control effect and anti-interference ability for the accurate tracking of 3D path of underactuated AUV.关键词
欠驱动自主水下机器人/三维路径跟踪/干扰观测器/反步滑模控制Key words
underactuated autonomous underwater vehicle/3D path tracking/nonlinear disturbance observer/backstepping sliding mode control分类
信息技术与安全科学引用本文复制引用
王庆楠,王娜,李广有,尹庆华..基于干扰观测器的AUV三维路径滑模跟踪控制[J].机械制造与自动化,2024,53(3):209-214,6.基金项目
国家自然科学基金项目(61703221) （61703221）
山东省自然科学基金项目(ZR2016FP10) （ZR2016FP10）
