海流扰动下无人水下航行器的动态面反演轨迹跟踪控制

doi:10.12305/j.issn.1001-506X.2021.06.25

Abstract

Abstract:

Aiming at the trajectory tracking problem of unmanned underwater vehicle (UUV) with unknown ocean current disturbances, a dynamic surface backstepping trajectory tracking control strategy of underdrive UUV is proposed. Firstly, the novel ocean currents observer is designed to estimate the unknown ocean current disturbances of the dynamics equations. Then, the three dimensional trajectory tracking controllers are designed to combine backstepping method with dynamic surface control (DSC) technique, which can transform the differential operation in control algorithm into a simple algebraic operation, then reduce the complexity and avoid differential explosion of the control algorithm. Furthermore, the Lyapunov function is selected to prove the closed-loop stability of system. Finally, the designed controller is verified by simulation. The simulation results show that the proposed observer can effectively deal with time-varying ocean current disturbances, and accurately realize the trajectory tracking control of UUV.

Key words: unmanned underwater vehicle (UUV), three dimensional trajectory tracking, ocean currents observer, dynamic surface control (DSC)

CLC Number:

TP273

Xiaoming CAO, Yong WEI, Hui HENG, Zhipeng SHEN. Dynamic surface backstepping trajectory tracking control of unmanned underwater vehicles with ocean current disturbances[J]. Systems Engineering and Electronics, 2021, 43(6): 1664-1672.

Figures/Tables 10

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References 30

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Dynamic surface backstepping trajectory tracking control of unmanned underwater vehicles with ocean current disturbances

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