基于非线性反步法的欠驱动AUV地形跟踪控制.pdf

第38卷 第12期 北 京 工 业 大 学 学 报 Vol.38 No.12 2012年 12月 JOURNAL OF BEIJING UNIVERSITY OFTECHNOLOGY Dec. 2012 基于非线性反步法的欠驱动AUV地形跟踪控制 1 1 2 贾鹤鸣 ,宋文龙 ,周佳加 (1.东北林业大学 机电工程学院,哈尔滨摇 150040;2.哈尔滨工程大学 自动化学院,哈尔滨摇 150001) 摘摇 要:为实现欠驱动水下机器人(autonomous underwater vehicle,AUV)的精确地形跟踪控制,设计了一种基于 Lyapunov稳定性理论的非线性反步(backstepping)法控制器. 基于虚拟向导的方法,结合AUV艇体的动力学特性, 建立AUV垂直面地形跟踪误差方程,采用backstepping法设计地形跟踪控制器,利用Lyapunov稳定性理论分析了 整个系统的稳定性. 仿真实验中选择海底斜坡地形进行跟踪实验,且要求AUV相对地形保持一个恒定的高度偏 差,结果表明该控制方法可实现对斜坡地形的精确跟踪. 关键词:欠驱动水下机器人;地形跟踪控制;反步法;Lyapunov稳定性理论 中图分类号:TP242 文献标志码:A 文章编号:0254-0037(2012)12-1780-06 Bottom Following Control for an Underactuated AUV Based on Nonlinear Backstepping Method 1 1 2 JIA He鄄ming ,SONG Wen鄄long ,ZHOUJia鄄jia (1.College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China; 2.College of Automation,Harbin Engineering University,Harbin 150001,China) Abstract:To realize the bottom following control for underactuated autonomous underwater vehicle (AUV),a nonlinear backstepping controller based on Lyapunov stability theory is presented. Combined with the dynamic characteristics of AUV,the bottom following error equations in the vertical plane are established basedonvirtualguidemethod. Backsteppingmethodisadoptedtodesignthebottomfollowing controller,then the stability of the whole system can be analyzed by Lyapunov stability theory. Bottom profile with constant slopes is used to evaluate the performance of the bottom following controller,and AUV is s