基于误差空间的UUV三维鲁棒跟踪控制研究

针对水下无人航行器(UUV)系统存在非线性和不确定性的特点,采用基于误差空间理论的跟踪控制方法,进行UUV在复杂海洋环境以及自身工作状态和模块配置变化时的空间跟踪控制问题研究. 以海浪干扰下的深度跟踪控制仿真实验分析该控制方法的鲁棒性. 该控制方法的理论基础是结合被跟踪平台的动态过程,以被跟踪平台和跟踪平台的空间误差为状态空间的状态量组成误差空间系统. 由于融合了被跟踪平台的动态过程和跟踪误差,跟踪精度和跟踪能力增加,同时系统的鲁棒性也增强. 

3-D Robust Tracking Control of Unmanned Underwater Vehicle Based on Error Space Theory

Since the dynamics of unmanned underwater vehicle (UUV) is with properties of high nonlinearity and uncertainty, a robust tracking control method based on error space theory was proposed to deal with the complex marine environment and variation of parameters or module configuration. The error space system including the dynamics of reference platform and tracking errors was constructed, where the error variable is the error between the state of reference platform and UUV that act as state variables of state space. Taking account of sea wave disturbance, simulations were performed to validate the robustness of depth tracking control algorithm. Results show that the tracking accuracy and tracking capacity of the system are improved with robustness enhanced obviously.