匹配/非匹配扰动与多元约束下水下无人航行器鲁棒快速轨迹跟踪控制

水下无人航行器（AUV）轨迹跟踪控制技术是其完成敌方港口侦查、协同编队以及移动目标跟踪等时间受限任务的基础。由于受收敛时间强约束、模型不确定性、复杂海洋环境干扰及推力和运动状态约束等因素的影响，AUV轨迹跟踪控制面临挑战。目前缺乏可以同时解决上述问题的AUV轨迹跟踪控制器。本项目从AUV轨迹跟踪控制系统需要强鲁棒性、快速收敛性和处理复杂约束的能力这几个实际需求出发，针对匹配/非匹配扰动与多元约束下的AUV轨迹跟踪控制问题，探索将模型预测方法、扰动观测器与申请人提出的自适应积分/快速积分终端滑模控制相结合的AUV轨迹跟踪控制方法，构建兼具强鲁棒性、快速收敛性、处理复杂约束能力和补偿非匹配扰动能力的控制器。搭建基于真实AUV动力学模型和真实扰动数据集的ROS仿真实验平台，近乎真实地模拟实际场景，对所提出的控制方法的有效性和优越性进行验证，为AUV智能化水平的发展提供理论和技术支撑。

Trajectory tracking control of autonomous underwater vehicle (AUV) is the basis for the completion of the time-limited tasks such as enemy port reconnaissance, formation, moving target tracking and so on. Due to the strong constraints of convergent time, model uncertainties, complex marine environment disturbances and thrust and motion state constraints, the trajectory tracking control of AUV faces challenges. There is currently a lack of effective trajectory tracking control method for AUV that can simultaneously solve the above problems. This project starts from the actual needs of the trajectory tracking control system of AUV, that is, the requirements of strong robustness, fast convergence and the ability to deal with complex constraints. For the trajectory tracking control problem of AUV under matched/mismatched disturbances and multiple constraints, this project aims to explore the control method that combines the model prediction method, the disturbance observer and the adaptive integral/fast integral terminal sliding mode control proposed by the applicant for the trajectory tracking control of AUV, and construct a controller with strong robustness, fast convergence, ability to handle complex constraints, and ability to compensate for mismatched disturbances. A ROS simulation experiment platform based on the real AUV dynamic model and real disturbance data set will be built, which can simulate the actual scene almost realistically, to verify the effectiveness and superiority of the proposed control method. The accomplishment of this project will provide theoretical and technical support for the development of the AUV intelligent level.