水下环境中，大型UUV 可作为搭载平台搭载多台AUV系统以实现其作业能力的扩展。为了解决大型UUV在运动条件下对AUV的回收问题，本文研究AUV三维运动跟踪控制及回收方法。对AUV的运动模型进行分析，提出了相应回收策略。在此基础上，基于AUV模型设计反步控制器，通过李雅普诺夫定理分析了系统的稳定性。仿真结果表明，所提出的回收策略和控制器可成功实现欠驱动AUV的回收三维跟踪控制，为解决UUV在运动条件下对AUV的回收问题奠定了良好的基础。
In underwater environment, UUV of large scale can carry multiple AUVs as an underwater platform, which expands its capability of performing tasks. In order to solve the recovery problem of underactuated AUV about locomotor recovery station, this paper studies the 3D motion tracking method of AUV. Firstly, this paper establishes the model of AUV, and then proposes a recovery strategy. Furthermore, based on the model, a backstepping controller is designed, and the stability of the system is analyzed by Lyapunov theorem. The simulation results show that the proposed recovery strategy and controller successfully realizes the 3D tracking control of underactuated AUV for recovery, which is a base to solve the recovery problem of underactuated AUV about locomotor recovery station.
2023,45(13): 80-83 收稿日期：2023-03-02
DOI：10.3404/j.issn.1672-7649.2023.13.016
分类号：U661
作者简介：谢志强(1979-)，男，硕士，研究方向为水下目标模拟
参考文献：
[1] MONTANARI M, EDWARDS JR, SCHMIDT H. Autonomous underwater vehicle-based concurrent detection and classification of buried targets using higher order spectral analysis[J]. IEEE Journal of Oceanic Engineering, 2006, 31(1): 188–199
[2] CHEN HX, TANG GY, HUANG YM, et al. Adaptive model-parameter-free nonsingular fixed-time sliding mode control for underwater cleaning vehicle[J]. Ocean Engineering, 262.
[3] 潘光, 黄明明, 宋保维, 等. AUV回收技术现状及发展趋势[J]. 鱼雷技术, 2008, 16(6): 10–14
[4] 高剑, 李勇强, 李璐琼, 等. 基于航路点跟踪的AUV回收控制[J]. 火力与指挥控制, 2013, 38(8): 4
[5] 齐贝贝, 宋敏, 王林林, 等. 基于模型预测控制的移动回收站对接控制算法[J]. 自动化与仪表, 2022, 37(11): 5
[6] 潘伟, 曾庆军, 姚金艺, 等. 全驱动自主水下机器人回收路径跟踪模糊滑模控制[J]. 船舶与海洋工程, 2022, 38(5): 6
[7] YE L, JIANG Y, JIAN C, et al. AUV docking experiments based on vision positioning using two cameras[J]. Ocean Engineering, 2015, 110: 163–173
[8] LI Y, WEI C, WU Q, et al. Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle[J]. Ocean Engineering, 2015, 105: 270–274
