Miao Jianming, Wang Shaoping, Zhao Zhiping, Li Yuan, Tomovic Mileta M
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China; No. 710 Research Institute, China Shipment Industry Company, Yichang, Hubei 443003, China.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China.
ISA Trans. 2017 Mar;67:107-130. doi: 10.1016/j.isatra.2016.12.005. Epub 2017 Jan 5.
This paper investigates the problem of spatial curvilinear path following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties. Firstly, in order to design the appropriate controller, path following error dynamics model is constructed in a moving Serret-Frenet frame, and the five degrees of freedom (DOFs) dynamic model with multiple uncertainties is established. Secondly, the proposed control law is separated into kinematic controller and dynamic controller via back-stepping technique. In the case of kinematic controller, to overcome the drawback of dependence on the accurate vehicle model that are present in a number of path following control strategies described in the literature, the unknown side-slip angular velocity and attack angular velocity are treated as uncertainties. Whereas in the case of dynamic controller, the model parameters perturbations, unknown external environmental disturbances and the nonlinear hydrodynamic damping terms are treated as lumped uncertainties. Both kinematic and dynamic uncertainties are estimated and compensated by designed reduced-order linear extended state observes (LESOs). Thirdly, feedback linearization (FL) based control law is implemented for the control model using the estimates generated by reduced-order LESOs. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiators (NTDs) are applied to construct derivatives of the virtual control commands. Finally, the closed loop stability for the overall system is established. Simulation and comparative analysis demonstrate that the proposed controller exhibits enhanced performance in the presence of internal parameter variations, external unknown disturbances, unmodeled nonlinear damping terms, and measurement noises.
本文研究了具有多种不确定性的欠驱动自主水下航行器（AUV）的空间曲线轨迹跟踪控制问题。首先，为了设计合适的控制器，在移动的塞雷特 - 弗雷内特坐标系中构建轨迹跟踪误差动力学模型，并建立具有多种不确定性的五自由度（DOF）动力学模型。其次，通过反步技术将所提出的控制律分为运动学控制器和动力学控制器。在运动学控制器方面，为了克服文献中描述的许多轨迹跟踪控制策略中存在的依赖精确车辆模型的缺点，将未知的侧滑角速度和攻角角速度视为不确定性。而在动力学控制器方面，将模型参数摄动、未知外部环境干扰和非线性水动力阻尼项视为集总不确定性。通过设计的降阶线性扩张状态观测器（LESO）对运动学和动力学不确定性进行估计和补偿。第三，利用降阶LESO生成的估计值，对控制模型实施基于反馈线性化（FL）的控制律。为了解决传统反步方法中固有的计算复杂性问题，应用非线性跟踪微分器（NTD）来构造虚拟控制指令的导数。最后，建立了整个系统的闭环稳定性。仿真和对比分析表明，所提出的控制器在存在内部参数变化、外部未知干扰、未建模的非线性阻尼项和测量噪声的情况下具有增强的性能。
