Three-dimensional path following control of underactuated autonomous underwater vehicle based on damping backstepping
Three-dimensional path following control of underactuated autonomous underwater vehicle based on damping backstepping
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DOI：
10.1177/1729881417724179
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发表时间：
2017-07
影响因子：
2.3
通讯作者：
Xiao Liang;Xingru Qu;Yuanhang Hou;Jun-dong Zhang
中科院分区：
文献类型：
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作者：
Xiao Liang;Xingru Qu;Yuanhang Hou;Jun-dong Zhang
本文研究了在存在海流的情况下欠驱动自主水下航行器的三维路径跟踪控制问题。首先，基于虚拟导引方法建立了三维路径跟踪误差模型。通过构建虚拟速度误差和反步法设计了控制律，该方法能够简化虚拟控制输入并避免由初始状态约束引起的奇异问题。考虑到三维期望路径的曲率和挠率特性，引入趋近角以保证误差的快速收敛。引入非线性阻尼项以抵消动态不确定性和外部干扰的影响。利用李雅普诺夫稳定性理论证明了控制器的稳定性。最后进行了仿真，结果表明了所提方法对参数不确定性和外部干扰的有效性和鲁棒性。
This article addresses the problem of three-dimensional path following control for underactuated autonomous underwater vehicles in the presence of ocean current. Firstly, three-dimensional path following error model was established based on virtual guidance method. The control law is developed by building virtual velocity errors and backstepping method, which can simplify the virtual control input and avoid the singular problem induced by initial state constraints. Considering the curvature and torsion characteristics of the three-dimensional desired path, the approaching angle is introduced to guarantee fast convergence of error. Nonlinear damping term is introduced to offset the effects of dynamic uncertainties and external disturbances. The controller stability was proved by Lyapunov stable theory. Finally, simulations were conducted and the results indicate the effectiveness and robustness to parameter uncertainties and external disturbances of the proposed approach.