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基于滤波反步法的欠驱动AUV三维路径跟踪控制

王宏健 陈子印 贾鹤鸣 李娟 陈兴华

王宏健, 陈子印, 贾鹤鸣, 李娟, 陈兴华. 基于滤波反步法的欠驱动AUV三维路径跟踪控制. 自动化学报, 2015, 41(3): 631-645. doi: 10.16383/j.aas.2015.c130883
引用本文: 王宏健, 陈子印, 贾鹤鸣, 李娟, 陈兴华. 基于滤波反步法的欠驱动AUV三维路径跟踪控制. 自动化学报, 2015, 41(3): 631-645. doi: 10.16383/j.aas.2015.c130883
WANG Hong-Jian, CHEN Zi-Yin, JIA He-Ming, LI Juan, CHEN Xing-Hua. Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping. ACTA AUTOMATICA SINICA, 2015, 41(3): 631-645. doi: 10.16383/j.aas.2015.c130883
Citation: WANG Hong-Jian, CHEN Zi-Yin, JIA He-Ming, LI Juan, CHEN Xing-Hua. Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping. ACTA AUTOMATICA SINICA, 2015, 41(3): 631-645. doi: 10.16383/j.aas.2015.c130883

基于滤波反步法的欠驱动AUV三维路径跟踪控制

doi: 10.16383/j.aas.2015.c130883
基金项目: 

国家自然科学基金(E091002/50979017), 教育部高等学校博士学科点专项科研基金(20092304110008), 中央高校基本科研业务费专项资金(HEUCFZ1026), 哈尔滨市科技创新人才(优秀学科带头人)研究专项资金(2012RFXXG083)资助

详细信息
    作者简介:

    陈子印 北京空间机电研究所工程师.2013年获得哈尔滨工程大学模式识别与智能系统专业博士学位.主要研究方向为非线性控制系统, 稳像控制, 视觉伺服控制, 并联机械系统. E-mail: chenziyin_heu@163.com

    通讯作者:

    王宏健 哈尔滨工程大学自动化学院教授.主要研究方向为智能控制, 智能优化方法与技术.本文通信作者. E-mail: cctime99@163.com

Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping

Funds: 

Supported by National Natural Science Foundation of China (E091002/50979017), Specialized Research Fund for the Doctoral Program of Higher Education of China (20092304110008), Fundamental Research Funds for the Central Universities (HEU CFZ1026), and Harbin Science and Technology Innovation Talents of Special Fund Project (Outstanding Subject Leaders) (2012RFXXG083)

  • 摘要: 研究了欠驱动自主水下航行器 (Autonomous underwater vehicle, AUV)的三维空间路径跟踪控制问题.针对基于虚拟向导建立的三维路径跟踪误差模型, 采用滤波反步法设计跟踪控制器,通过二阶滤波过程获得虚拟控制量的导数, 避免了直接对虚拟控制量解析求导的复杂过程, 同时滤除了高频测量噪声, 增加了系统对噪声的鲁棒性.通过设计滤波误差补偿回路, 保证了滤波信号对虚拟控制量的逼近精度.基于李雅普诺夫稳定性理论设计鲁棒项, 保证了闭环跟踪误差系统状态的渐近稳定.仿真结果表明了该控制器对噪声干扰具有一定的鲁棒性, 能够实现对三维路径的精确跟踪.
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  • 收稿日期:  2013-09-22
  • 修回日期:  2014-09-27
  • 刊出日期:  2015-03-20

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