【摘要】 针对参数摄动下欠驱动无人水下航行器(UUV)水平面轨迹跟踪控制问题,提出了一种基于积分滑模的轨迹跟踪控制方法。该方法利用航行器的运动特性建立轨迹跟踪误差方程,结合反步法和积分滑模控制方法,分别设计了1阶积分滑模纵向速度控制器和偏航角速度控制器,实现了参数摄动下水平面轨迹跟踪并证明了系统的稳定性。仿真结果表明,所提出的轨迹跟踪控制方法可以有效地完成轨迹跟踪任务并且对参数摄动具有很强的鲁棒性。更多还原

【Abstract】 A horizontal plane trajectory tracking control problem of an underactuated unmanned undersea vehicle(UUV) is discussed considering parameter perturbation. A control strategy based on backstepping method and integral sliding mode control method is hence proposed. The trajectory tracking error equation is established using the motion characteristics of the UUV. Employing the backstepping method and the integral sliding mode control method, the first-order integral sliding mode vertical velocity controller and yaw velocity controller are designed to realize the horizontal plane trajectory tracking with parameter perturbation, and the stability of the system is proved. Simulation results show that the proposed trajectory tracking control method can effectively complete trajectory tracking task, and is rather robust to parameter perturbation.更多还原