本文针对考虑模型不确定性和时变外界环境扰动的水下机器人轨迹跟踪问题展开研究。首先基于水下机器人水平面运动学和动力学方程，结合有限时间控制方法设计一个有限时间扰动观测器用于对总扰动进行实时估计。随后基于反步滑模控制完成带扰动观测器的轨迹跟踪控制律设计，并采用二阶滤波器对虚拟控制信号进行过滤，增设滤波补偿系统用于保证滤波信号的精度。选择高增益扰动观测器和传统反步滑模控制器分别作为扰动观测器和控制器的对比项。最后在Matlab Simulink平台中进行了轨迹跟踪仿真实验。仿真结果表明，所设计的扰动观测器能够对总扰动实现快速且准确的观测估计，且水下机器人能够对目标轨迹能实现较好的跟踪效果。本文所设计的控制器可以使水下机器人快速地跟踪上目标轨迹，且相较于传统反步滑模控制器有着更小的跟踪误差。
The trajectory tracking problem of underwater vehicle considering model uncertainty and time-varying external environment disturbance is studied. Firstly, a finite time disturbance observer is designed to estimate the total disturbance in real time based on the horizontal kinematics and dynamics equations of the underwater vehicle and the finite time control method. Then, based on the backstepping sliding mode control, the trajectory tracking control law with disturbance observer is designed, and a second-order filter is used to filter the virtual control signal, and a filter compensation system is added to ensure the accuracy of the filtered signal. High gain disturbance observer and traditional backstepping sliding mode controller are selected as the comparison terms of disturbance observer and controller respectively. Finally, the trajectory tracking simulation is carried out in Matlab Simulink platform. Simulation results show that the designed disturbance observer can achieve fast and accurate observation and estimation of total disturbances, and the underwater robot can achieve good tracking effect on the target trajectory. The controller designed can make the underwater robot track the target trajectory quickly, and has smaller tracking error than the traditional backstepping sliding mode controller.
2023,45(24): 108-115 收稿日期：2022-10-26
DOI：10.3404/j.issn.1672-7649.2023.24.020
分类号：U674.941：U664.82
基金项目：国家自然科学基金资助项目（51979110）
作者简介：罗一汉(2000-),男,硕士研究生,研究方向为水下机器人运动控制
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