Three-dimensional trajectory tracking of an underactuated AUV based on fuzzy dynamic surface control
Three-dimensional trajectory tracking of an underactuated AUV based on fuzzy dynamic surface control
复制标题
基于模糊动态表面控制的欠驱动AUV三维轨迹跟踪
DOI：
10.1049/iet-its.2019.0347
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发表时间：
2020-05-01
影响因子：
2.7
通讯作者：
Li, Ye
中科院分区：
文献类型：
--
作者：
Liang, Xiao;Qu, Xingru;Li, Ye
研究了欠驱动自主式水下机器人(AUV)在模型不确定性和时变扰动等复杂未知条件下的三维轨迹跟踪问题。基于时变的参考轨迹，从运动学的角度设计了参考俯仰角和偏航角。将一阶滤波器引入到动态曲面控制(DSC)中，设计了动态控制器，简化了设计过程，克服了传统反推算法中的微分爆炸问题。为了降低复杂未知量的影响，采用了一种基于自适应模糊的DSC方法来辨识任意精度的集总扰动，进一步增强了系统的鲁棒性。Lyapunov稳定性分析证明了跟踪误差是有界的，并且收敛到一个任意小的零点邻域。最后，进行了仿真研究，并与DSC方案进行了比较，验证了该方案的有效性和优越性。
The three-dimensional trajectory tracking of an underactuated autonomous underwater vehicle (AUV) under the complex unknowns including model uncertainties and time-varying disturbances is studied. The reference pitch angle and yaw angle are designed in kinematics, based on the time-varying reference trajectory. Dynamics controllers are developed by incorporating the first-order filter into the dynamic surface control (DSC), which simplifies the design process and overcome differential explosion in the traditional backstepping. To reduce the influence of the complex unknowns, an adaptive fuzzy-based DSC scheme is employed to identify the lumped disturbances with arbitrary accuracy and further enhance system robustness. Lyapunov stability analysis demonstrates that tracking errors are bounded and converge to an arbitrarily small neighbourhood of zero. Finally, simulation studies and comparisons with DSC scheme are carried out to illustrate the effectiveness and superiority of the proposed scheme.