多不确定性和输入饱和条件下AUV鲁棒路径跟踪控制

IF 4.4 2区 地球科学 Q1 REMOTE SENSING Drones Pub Date : 2023-11-08 DOI:10.3390/drones7110665
Jianming Miao, Xingyu Sun, Qichao Chen, Haosu Zhang, Wenchao Liu, Yanyun Wang
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引用次数: 0

摘要

针对欠驱动自主水下航行器(AUV)具有多不确定性和输入饱和的路径跟踪问题,提出了一种鲁棒路径跟踪控制策略,并通过半物理仿真实验验证了所提控制策略的有效性。首先,基于传统的反推法构造控制律;将多重不确定性处理为集总不确定性,利用扩展状态观测器(ESOs)对其进行估计和消除。此外,设计的辅助动态补偿器可以补偿输入饱和的影响。其次,为了简化控制器设计并解决“复杂性爆炸”问题,采用两个命令滤波器分别获得未知侧滑角速度和期望偏航角加速度的估计值。最后,通过计算机仿真验证了所提控制策略的优越性和鲁棒性。基于NI Compact cRIO-9068和PLC S7-1200搭建了半物理仿真实验平台,进一步验证了所提控制策略的有效性。
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Robust Path-Following Control for AUV under Multiple Uncertainties and Input Saturation
In this paper, a robust path-following control strategy is proposed to deal with the path-following problem of the underactuated autonomous underwater vehicle (AUV) with multiple uncertainties and input saturation, and the effectiveness of the proposed control strategy is verified by semi-physical simulation experiments. Firstly, the control laws are constructed based on the traditional backstepping method; the multiple uncertainties are treated as lumped uncertainties, which can be estimated and eliminated by the employed extended state observers (ESOs). In addition, the influence of input saturation can be compensated by the designed auxiliary dynamic compensators. Secondly, to simplify controller design and address the “complexity explosion”, two command filters are used to obtain the estimated value of the unknown sideslip angular velocity and the desired yaw angular acceleration, respectively. Finally, the superiority and robustness of the proposed control strategy are verified through computer simulation. A semi-physical simulation experiment platform is built based on the NI Compact cRIO-9068 and PLC S7-1200 to further demonstrate the effectiveness of the proposed control strategy.
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来源期刊
Drones
Drones Engineering-Aerospace Engineering
CiteScore
5.60
自引率
18.80%
发文量
331
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