Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle
Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle
复制标题
欠驱动自主水下航行器三维路径跟踪的非线性制导和模糊控制
DOI：
10.1016/j.oceaneng.2017.10.001
复制
发表时间：
2017
影响因子：
5
通讯作者：
Zhang Qin
中科院分区：
文献类型：
--
作者：
Yu Caoyang;Xiang Xianbo;Lapierre Lionel;Zhang Qin
针对欠驱动自主水下航行器（AUV）在未知环境干扰下的路径跟踪问题，提出一种简化的非线性模糊控制器，并结合改进的三维制导律.首先，充分利用坐标变换的本质等价性，推导了一种改进的三维视线制导律，将三维轨迹跟踪位置误差转化为制导速度，将轨迹跟踪系统从二阶降为一阶。在三维制导设计中考虑了侧滑角和攻角的影响，以考虑摇摆和升沉时的欠驱动构形。其次，设计了一种非线性单输入模糊控制器，以减少双输入模糊控制器中平方规则所带来的计算复杂度，并迫使AUV的转向速度达到其导引轮廓。灵敏度分析表明，具有收敛分布和小斜率的单输入非线性模糊设计比线性设计对未知干扰具有更好的鲁棒性。最后，数值例子与定量比较来说明的非线性单输入模糊控制器的性能的欠驱动AUV暴露在未知的环境干扰的三维路径跟踪。
This paper proposes a simplified nonlinear fuzzy controller integrating an improved three-dimensional (3D) guidance law, in order to address the problem of path following for an underactuated autonomous underwater vehicle (AUV) exposed to unknown environmental disturbances. First, an improved 3D line-of-sight guidance law that makes full use of the essentially equivalent coordinate transformation is derived to transform 3D path following position errors into controlled guidance speeds, which also reduces the path following system form second-order to first-order. The side-slip angle and angle of attack are integrated into 3D guidance design to account for the underactuated configuration in sway and heave. Second, a nonlinear single-input fuzzy controller is designed to reduce computation complexity resulting from square rules in a double-input fuzzy controller, and to force the steerable speeds of an AUV to attain their guidance profiles. Subsequently, sensitivity analysis is adopted to suggest that the nonlinear fuzzy design with the convergent distribution and small slope for the single input have better robustness against unknown disturbances than the linear design. Finally, numerical examples with quantitative comparison are provided to illustrate the performance of the nonlinear single-input fuzzy controller for 3D path following of an underactuated AUV exposed to unknown environmental disturbances.