复杂扰动下水下机器人的轨迹精确跟踪控制

陈浩华; 赵红; 王宁; 郭晨; 鲁挺; 王宁

doi:10.19693/j.issn.1673-3185.02236

复杂扰动下水下机器人的轨迹精确跟踪控制

doi: 10.19693/j.issn.1673-3185.02236

陈浩华^1,,
赵红^1,,
王宁^{1, 2, ,},
郭晨¹,
鲁挺¹,
王宁¹

1.
大连海事大学船舶电气工程学院，辽宁大连 116026
2.
哈尔滨工程大学船舶工程学院，黑龙江哈尔滨 150001

基金项目: 国家自然科学基金资助项目（51579024）；装备预研重点实验室基金资助项目（6142215200106）；辽宁省“兴辽英才计划”资助项目(XLYC1807013)；中央高校基本科研业务费专项资金资助项目（3132019318, 3132019344）

详细信息

作者简介:
陈浩华，男，1995年生，硕士生。研究方向：水下机器人轨迹跟踪控制。E-mail：chenhaohua0617@163.com

赵红，女，1967年生，博士，教授。研究方向：电气传动与控制，船舶电力推进，智能控制在电气工程领域的应用。E-mail：zhaohong@dlmu.edu.cn

王宁，男，1983年生，博士，教授，博士生导师。研究方向：海洋机器人、无人驾驶船舶和自主系统的智能控制。E-mail：n.wang@ieee.org

通信作者:
王宁

中图分类号: U674.941
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出版历程
- 收稿日期: 2020-12-23
- 修回日期: 2021-03-18
- 网络出版日期: 2022-04-06
- 刊出日期: 2022-04-20

Accurate track control of unmanned underwater vehicle under complex disturbances

CHEN Haohua^1
,,
ZHAO Hong^1
,,
WANG Ning^{1, 2
, ,},
GUO Chen¹,
LU Ting¹,
WANG Ning¹

1.
Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China
2.
College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China

复杂扰动下水下机器人的轨迹精确跟踪控制由陈浩华，等创作，采用知识共享署名4.0国际许可协议进行许可。

摘要

摘要: 目的针对外界复杂干扰下水下机器人三维轨迹精确跟踪控制的问题，提出一种基于有限时间扰动观测器的非奇异终端滑模控制方法。方法设计非奇异终端滑模轨迹跟踪控制器，保证跟踪误差在有限时间内精确收敛到零。在外界多维度时变干扰下，设计有限时间扰动观测器，提高系统的抗干扰能力。结果利用Lyapunov函数证明所设计控制策略可以有限时间稳定。采用MATLAB进行仿真实验，在阶跃扰动下与反步滑模控制方法仿真对比，表明所提方法可实现轨迹的精确跟踪。结论研究结果可为水下机器人的三维轨迹精确跟踪提供解决思路。
- 水下机器人 /
- 三维轨迹跟踪 /
- 有限时间扰动观测器 /
- 阶跃扰动 /
- 非奇异终端滑模 /
- 反步滑模
Abstract: Objectives This paper presents a non-singular terminal sliding mode track control method based on a finite-time disturbance observer to solve the problem of accurately tracking and controlling an the 3D trajectory of an unmanned underwater vehicle under complex external disturbances. Methods A non-singular terminal sliding mode track controller is designed to ensure that the tracking error converges to zero accurately within a limited time. A finite-time disturbance observer is designed to improve the anti-jamming ability of the system under external multidimensional time-varying disturbances. Results The Lyapunov function is used to prove that the designed control strategy can remain stable for a limited time. MATLAB is used for the simulation experiment, and a comparison with the backstepping sliding mode control method under step disturbance shows that the method presented in this paper achieves accurate trajectory tracking. Conclusions The results of this paper can provide a solution for accurately tracking the 3D trajectories of unmanned underwater vehicles.
- unmanned underwater vehicle /
- 3D trajectory tracking /
- finite-time disturbance observer /
- step disturbance /
- non-singular terminal sliding mode /
- backstepping sliding mode

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图 1 坐标系

Figure 1. Coordinate system

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图 2 工况1的跟踪轨迹

Figure 2. The tracking trajectory for condition 1

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图 3 工况1的位姿状态曲线

Figure 3. Position states for condition 1

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图 4 工况1的位姿跟踪误差曲线

Figure 4. Position errors for condition 1

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图 5 工况1的控制输入曲线

Figure 5. Control input for condition 1

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图 6 工况1的速度状态曲线

Figure 6. Speed states for condition 1

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图 7 工况1的速度跟踪误差曲线

Figure 7. Velocity errors for condition 1

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图 8 工况1的水下扰动及其观测曲线

Figure 8. Disturbance and observed values for condition 1

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图 9 工况2的跟踪轨迹

Figure 9. The tracking trajectory for condition 2

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图 10 工况2的位姿状态曲线

Figure 10. Position states for condition 2

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图 11 工况2的位姿跟踪误差曲线

Figure 11. Position errors for condition 2

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图 12 工况2的控制输入曲线

Figure 12. Control input for condition 2

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图 13 工况2的速度状态曲线

Figure 13. Speed states for condition 2

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图 14 工况2的速度跟踪误差曲线

Figure 14. Velocity errors for condition 2

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图 15 工况2的水下扰动及其观测曲线

Figure 15. Disturbance and observed values for condition 2

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图 16 工况3的跟踪轨迹

Figure 16. The tracking trajectory for condition 3

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图 17 工况3的位姿状态曲线

Figure 17. Position states for condition 3

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图 18 工况3的位姿跟踪误差曲线

Figure 18. Position errors for condition 3

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图 19 工况3的控制输入曲线

Figure 19. Control input for condition 3

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图 20 工况3的速度状态曲线

Figure 20. Speed states for condition 3

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图 21 工况3的速度跟踪误差曲线

Figure 21. Velocity errors for condition 3

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图 22 工况3的水下扰动及其观测曲线

Figure 22. Disturbance and observed values for condition 3

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表 1 三种方法的性能比较

Table 1. Performance comparison of three methods

性能指标		FDO-NTSMC	BSMC	NTSMC
IAE	$ {x_{\text{e}}} $	0.462 7	1.061 0	1.265 8
	$ {y_{\text{e}}} $	0.356 2	0.766 6	1.603 3
	$ {z_{\text{e}}} $	0.395 6	0.528 4	2.460 3
	$ {\theta _{\text{e}}} $	1.593 2	2.050 1	2.326 6
	$ {\psi _{\text{e}}} $	2.656 4	2.848 2	4.142 3
ITAE	$ {x_{\text{e}}} $	0.561 2	24.282 7	33.159 9
	$ {y_{\text{e}}} $	0.292 6	11.964 8	51.427 9
	$ {z_{\text{e}}} $	0.460 6	7.384 6	80.571 9
	$ {\theta _{\text{e}}} $	1.779 8	16.042 0	16.232 8
	$ {\psi _{\text{e}}} $	3.749 6	17.936 6	39.832 9

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表 2 阶跃扰动下3种方法性能比较

Table 2. Performance comparison of three methods under step perturbation

性能指标		FDO-NTSMC	BSMC	NTSMC
IAE	$ {x_{\text{e}}} $	0.626 5	1.718 2	5.916 2
	$ {y_{\text{e}}} $	0.513 5	1.456 3	6.499 6
	$ {z_{\text{e}}} $	0.555 3	1.234 4	7.711 7
	$ {\theta _{\text{e}}} $	1.740 6	2.576 4	5.167 5
	$ {\psi _{\text{e}}} $	2.820 2	3.520 0	8.959 2
ITAE	$ {x_{\text{e}}} $	6.568 8	48.180 9	203.403 5
	$ {y_{\text{e}}} $	5.986 0	37.016 3	231.457 9
	$ {z_{\text{e}}} $	6.288 3	33.114 5	272.619 8
	$ {\theta _{\text{e}}} $	7.129 9	35.028 3	85.621 4
	$ {\psi _{\text{e}}} $	9.733 6	42.372 9	213.641 1

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表 3 执行器限幅下3种方法性能比较

Table 3. Performance comparison of three methods under the condition of limiting amplitude of control input

性能指标		FDO-NTSMC	BSMC	NTSMC
IAE	$ {x_{\text{e}}} $	0.466 3	0.940 9	1.767 4
	$ {y_{\text{e}}} $	0.381 3	0.815 4	2.326 4
	$ {z_{\text{e}}} $	0.437 5	0.641 1	3.513 0
	$ {\theta _{\text{e}}} $	1.593 2	2.050 1	3.422 3
	$ {\psi _{\text{e}}} $	1.994 5	1.690 2	3.192 1
ITAE	$ {x_{\text{e}}} $	0.567 2	19.343 2	52.946 8
	$ {y_{\text{e}}} $	0.322 0	11.429 8	80.644 2
	$ {z_{\text{e}}} $	0.528 2	7.112 8	119.339 1
	$ {\theta _{\text{e}}} $	1.779 8	16.042 0	23.617 4
	$ {\psi _{\text{e}}} $	2.423 6	14.800 6	56.396 3

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