数字海洋与水下攻防2024，Vol.7Issue(3)：310-317,8.DOI:10.19838/j.issn.2096-5753.2024.03.009
基于非线性干扰观测器的UUV反演滑模深度控制
Nonlinear Disturbance Observer Based Backstepping Sliding Mode Depth Control for UUVs
周新力 1胡庆玉1
作者信息
- 1. 中国船舶集团有限公司第七一〇研究所,湖北 宜昌 443003||清江创新中心,湖北 武汉 430200
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摘要
Abstract
A nonlinear disturbance observer based backstepping sliding mode depth control algorithm is proposed for hovering operation of unmanned underwater vehicles(UUVs)in shallow marine environment.Firstly,based on the hovering characteristics of a fully actuated UUV,a five-degree-of-freedom decoupled heave channel dynamic model is established.Then,a nonlinear disturbance observer(NDO)is used to effectively estimate the time-varying wave disturbance and model uncertainty,and the exponential convergence property of the NDO is proved.Based on the UUV nominal model and the estimated disturbance state by the NDO,a backstepping sliding mode controller is designed using the backstepping method.By introducing a hyperbolic tangent function instead of a discontinuous switching function,the sliding mode approach law is improved and the chattering effect of the sliding mode is reduced.The stability of the system is proved using Lyapunov theory.Finally,the effectiveness and superiority of the control algorithm is verified through simulation experiments.关键词
水下无人航行器/深度控制/干扰观测器/反演滑模控制Key words
unmanned underwater vehicle/depth control/disturbance observer/backstepping sliding mode control分类
交通工程引用本文复制引用
周新力,胡庆玉..基于非线性干扰观测器的UUV反演滑模深度控制[J].数字海洋与水下攻防,2024,7(3):310-317,8.
