Advanced Autonomous Underwater Vehicles Attitude Control with L1 Backstepping Adaptive Control Strategy
Advanced Autonomous Underwater Vehicles Attitude Control with L1 Backstepping Adaptive Control Strategy
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DOI：
10.3390/s19224848
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发表时间：
2019-11
期刊：
影响因子：
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通讯作者：
Yuqian Liu;Jiaxing Che;C. Cao
中科院分区：
文献类型：
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作者：
Yuqian Liu;Jiaxing Che;C. Cao
针对高度动态和不确定环境中的自主式水下机器人，提出了一种将L1自适应控制和反推控制相结合的新型姿态控制方案。本文采用欧拉角表示法来表示姿态传播。姿态的运动学和动力学都是严格的反馈形式，这导致了反步控制策略作为基线控制器。此外，通过将快速和稳健的自适应引入反步控制结构中，我们的控制器能够处理来自建模的时变不确定性和动态中的外部干扰。该姿态控制器是针对俯仰-偏航耦合通道设计的。对于不可避免的横摇漂移，提出了一种基于Lyapunov函数的最优线性化方法来分析操作区横倾角的稳定性。给出了理论分析和仿真结果，验证了所提出的控制策略的可行性。
This paper presents a novel attitude control design, which combines L1 adaptive control and backstepping control together, for Autonomous Underwater Vehicles (AUVs) in a highly dynamic and uncertain environment. The Euler angle representation is adopted in this paper to represent the attitude propagation. Kinematics and dynamics of the attitude are in the strict feedback form, which leads the backstepping control strategy serving as the baseline controller. Moreover, by bringing fast and robust adaptation into the backstepping control architecture, our controller is capable of dealing with time-varying uncertainties from modeling and external disturbances in dynamics. This attitude controller is proposed for coupled pitch-yaw channels. For inevitable roll excursions, a Lyapunov function-based optimum linearization method is presented to analyze the stability of the roll angle in the operation region. Theoretical analysis and simulation results are given to demonstrate the feasibility of the developed control strategy.