第21卷第7期 2013年7月
文章编号
1004-924X(2013)07-1719-08
光学精密工程
Optics and Precision Engineering
水下运载器纵向轨迹自适应跟踪控制
白瑜亮1*，崔乃刚1，吕世良2,3
（1.哈尔滨工业大学航天学院，黑龙江哈尔滨150001；
2.中国科学院长春光学精密机械与物理研究所，吉林长春130033；
3.中国科学院大学，北京，100864)
Vol. 21No.7
Jul.2013
摘要：针对强非线性、大俯仰角运动的水下运载器纵向运动轨迹跟踪间题提出了一类非线性自适应控制方案。首先，直接采用非线性运动模型，在控制器设计过程中引人他和函数，通过麦克劳林展开公式避免了俯仰角为小角度的假设限制；其次，考虑到运载器非线性运动模型很难给出精确的数学描述并且实际运载器系统存在模型误差，采用在线自适应方法近似遇近其非线性模型；最后，利用Backstepping方法设计了非线性自适应控制器，并利用Lyapunov理论证明了控制系统的稳定性，半实物仿真结果表明；在考虑测量噪声和参数不确定性的情况下，该算法对给出的3种轨迹的跟踪误差均小于0.5m，筛仰能偏均小于15*，仰力矩均在105N·m量级。结果验证了本文提出的控制系统鲁棒性强，满足跟踪性能要求。
关键调：水下运载器；非线性自适应按制；Backstepping方法；Lyapunov理论
中图分类号：U674.73;U666.12
文献标识码：A
doi;10, 3788/OPE. 20132107.1719
Adaptive tracking control of longitudinal trajectory for underwater vehicle
BAI Yu-liang',CUINai-gang',LU Shi-liang23
(1.School ofAstronautics,HarbinInstitute ofTechnology,Harbin15000l,China
2.Changchun Institute of Optics，FineMechanicsand Physics, ChineseAcademy of Sciences,Changchun 130033,China;
3.University of Chinese Academy of Sciences,Beijing 100864,China)
*Correspondingauthor，E-mail:riaobaiv@126.com
Abstract: For the underwater vehicle trajectory tracking with strong nonlinearity and large pitch angle movement, a class of nonlinear adaptive control schemes were proposed in this paper. Firstly, the nonlinear movement model was adopted directly , a saturation function was induced in the process of controller design, and the assumption limit that the pitch angle was a small-angle was broken through the Maclaurin expansion formula, Then, taking into account that the precise nonlinear motion model of the vehicle was difficult to establish and there were many modeling errors in the actual vehicle mod-el, the online adaptive method was used to approximate the nonlinear model. Finally, a nonlinear a-daptive controller was designed by using Backstepping method, and its stability was proved by Lya
收稿日期：2013-02-16；修订日期：2013-03-18.
基金项目：中国博士后科学基金资助项目（No.20110491028)；中央高校基本科研业务费（重点支持研究项目)(No.
HEUCFZ1126)