本文研究水下航行器的轨迹跟踪控制问题。将预设性能控制与滑模控制相结合，结合有限时间收敛终端滑模与预设性能控制器对比进行分析推导，证明了算法的稳定性。采用的控制律提高了轨迹跟踪中的误差收敛速度，约束了AUV轨迹跟踪误差。除了增强对系统中不确定性模型的鲁棒性，这种控制率还能够减少由于滑模函数的控制抖动。新型控制器具有较高的控制精度以及较快的响应速度。通过对比仿真研究，验证了该控制律的有效性。
This paper addresses the trajectory tracking control problem of the autonomous underwater vehicle. The prescribed performance control combined with sliding mode control is proposed to improve the convergence rate in AUV trajectory tracking. The finite-time convergent non-singular terminal sliding mode and the prescribed performance control are analyzed and derived, and the stability of the controller is proved. In addition to robustness to uncertain model, this control algorithm can also reduce the sliding mode control jitter. The simulations results show that this control has higher control precision and faster response.
2020,42(12): 92-96 收稿日期：2019-12-13
DOI：10.3404/j.issn.1672-7649.2020.12.018
分类号：TP24
作者简介：张国光(1985-),男,工程师,从事水下电磁场探测及算法研究
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