【摘要】 为了解决海洋环境不确定因素高、底栖式自主水下航行器(AUV)模型参数难以精确确定等问题,将无模型自适应控制(MFAC)方法应用于路径点跟踪控制系统中。针对传统MFAC方法在航向控制中可能存在的积分累加效应引起的收敛速度慢、跟踪精度低等问题,设计了一种改进的MFAC航向控制器,证明了航向控制误差的有界性。接着,针对封闭型视线法制导算法应用于路径点跟踪控制时AUV在路径点切换处航向控制超调较大的问题,提出了一种双曲正切型航速调整策略,该策略可以明显促进AUV在路径点切换处的平滑过渡并改善跟踪误差的收敛速度。最后,进行了底栖式AUV航向控制以及路径点跟踪控制外场试验,验证了所设计算法的有效性和优越性。更多还原

【Abstract】 In this study, the model-free adaptive control(MFAC) method was applied to a waypoint-tracking control system to solve the problems of high uncertainty in the marine environment and difficulty in accurately determining the benthic autonomous undersea vehicle(AUV) model parameters. Moreover, an improved MFAC course controller was designed and the boundedness of the course control error was verified to solve the problems of a slow convergence rate and low tracking accuracy during course control due to the integral additive effect of the traditional MFAC method. Subsequently, a hyperbolic tangent speed adjustment strategy was proposed to solve the problem whereby the course control overshoot of the AUV is large at the waypoint switch when the closed line of sight(LOS) guidance algorithm is applied to waypoint-tracking control.And this strategy can significantly promote the smooth transition of the AUV at the waypoint switch and improve the convergence speed of the tracking error. Finally, an outfield test of the course control and waypoint-tracking control of the benthic AUV was conducted to verify the effectiveness and superiority of the proposed algorithm.更多还原