霍江航, 姜向远, 栾义忠, 等. 基于L1自适应理论的AUV深度控制器设计[J]. 中国舰船研究, 2021, 16(5): 150–157. doi: 10.19693/j.issn.1673-3185.02114
引用本文: 霍江航, 姜向远, 栾义忠, 等. 基于L1自适应理论的AUV深度控制器设计[J]. 中国舰船研究, 2021, 16(5): 150–157. doi: 10.19693/j.issn.1673-3185.02114
HUO J H, JIANG X Y, LUAN Y Z, et al. Design of AUV depth controller based on L1 adaptive theory[J]. Chinese Journal of Ship Research, 2021, 16(5): 150–157. doi: 10.19693/j.issn.1673-3185.02114
Citation: HUO J H, JIANG X Y, LUAN Y Z, et al. Design of AUV depth controller based on L1 adaptive theory[J]. Chinese Journal of Ship Research, 2021, 16(5): 150–157. doi: 10.19693/j.issn.1673-3185.02114

基于L1自适应理论的AUV深度控制器设计

Design of AUV depth controller based on L1 adaptive theory

  • 摘要:
      目的  为抑制自主式水下航行器(autonomous underwater vehicle, AUV)运动过程中水动力参数变化和复杂外界环境干扰的影响,针对AUV深度控制通道设计一种自适应控制器。
      方法  首先建立AUV系统动力学模型,然后以REMUS AUV系统的纵向控制模型为被控对象设计L1自适应控制器,最后在考虑不同干扰条件下使用Matlab/Simulink对L1自适应控制器进行仿真试验,并与相同环境下PID控制器的效果进行对比。
      结果  在受到强外界干扰的条件下,对比PID控制器,L1自适应控制器的控制效果更稳定。且当AUV运动模型中水动力参数发生改变时,L1自适应控制器可以保持稳定。
      结论  仿真结果表明,基于L1自适应理论设计的控制器在拥有良好动态响应的同时能够保证抗干扰能力与鲁棒性。

     

    Abstract:
      Objectives  An adaptive controller is designed for the longitudinal control channel of autonomous underwater vehicles (AUV) in order to suppress the influence of hydrodynamic parameters and complex external environment disturbance during AUV motion.
      Methods  First, a dynamic model of the AUV system is established and the L1 adaptive controller is then designed on the basis of the longitudinal control model of the REMUS AUV system. Finally, Matlab/Simulink is used to simulate the L1 adaptive controller under different disturbance conditions, and the effects are compared with a PID controller in the same environment.
      Results  Under the condition of strong external interference, the control effects of the L1 adaptive controller are more stable than those of the PID controller. When the hydrodynamic parameters of the AUV motion model change, the L1 adaptive controller can still maintain stability.
      Conclusion  The simulation results show that the controller designed on the basis of L1 adaptive theory has good dynamic response and can guarantee anti-interference ability and robustness.

     

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