本文提出一种自治水下航行器（Autonomous Underwater Vehicles，AUV）三维轨迹跟踪控制算法。将AUV在三维空间的运动通过反演法和变结构滑模控制律设计出AUV航迹跟踪控制律，通过Lyapunov稳定性理论分析了系统的稳定性。在同时考虑加入外界干扰的条件下，使其控制效果在3个坐标轴上都能够达到稳定并且有平滑连续的输出结果，对外界干扰有较好的抑制作用。仿真结果表明了所提控制律的有效性。
A control algorithm is proposed for Autonomous Underwater Vehicles three-dimensional trajectory-tracking in this paper. The AUV path tracking controller is designed through the backstepping and variable structure sliding mode control law, considering the movement of AUV in three-dimensional space. The stability of the control system is analyzed using Lyapunov stability theory. As for environment disturbances, the proposed approach can achieve stability on three axes at the same time with smooth continuous outputs and the ability of restraining interference is enhanced. The simulation results show the effectiveness of the proposed control law.
2019,41(1): 66-70 收稿日期：2017-07-12
DOI：10.3404/j.issn.1672-7649.2019.01.012
分类号：U661.33
基金项目：水电机械设备设计与维护湖北省重点实验室资助项目（2016KJX16）
作者简介：孙巧梅(1983-),女,博士,讲师,主要从事船舶运动控制方向的研究
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