针对自主水下机器人(AUV)在环境干扰下的三维轨迹跟踪问题，设计一种基于非线性干扰观测器(NDO)的反步滑模控制器。根据“云帆”AUV自身特点构建六自由度数学模型，设计NDO对环境干扰进行估计补偿。最后在反步法的基础上引入滑模控制，并加入NDO设计反步滑模控制器，并通过李雅普诺夫函数证明系统的稳定性。仿真结果表明，基于NDO的反步滑模控制器能够满足AUV在环境干扰下三维轨迹跟踪要求，且具有较好的鲁棒性。
Aiming at the problem of three-dimensional tracking of autonomous underwater vehicles under environmental interference, a backstepping sliding mode controller based on nonlinear interference observer is designed. Construct a six degrees of freedom mathematical model based on the characteristics of the Yunfan AUV. NDO is designed to compensate the environmental interference. Finally, sliding mode control is introduced on the basis of backstepping method, and NDO is added to design backstepping sliding mode controller, and the stability of the system is proved by Lyapunov function. The simulation results show that the backstepping sliding mode controller based on NDO can meet the requirements of 3D trajectory tracking of AUV under the environmental disturbance, and has good robustness.
2022,44(7): 82-87 收稿日期：2021-08-03
DOI：10.3404/j.issn.1672-7649.2022.07.016
分类号：TP242.6
基金项目：国家重点研发计划（2020YFC1521704）
作者简介：武建国(1980-),男,博士,研究员,研究方向为水下机器人平台、水下机器人自适应性控制、流场感知
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