不確定干擾下基于反步法的AUV運動控制

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中圖分類號：TP24

文獻標志碼：A

Motion Control of AUV Based on Backstepping Method Under UncertainDisturbances

CHEN Baofu， YUAN Jianping （NavalArchitectureand Shipping College，Zhanjiang524ooo， China）

Abstract： To address the motion control problem of autonomous underwater vehicles （AUV） under model parameter perturbations and random current disturbances，a vertical-plane backstepping controller and a horizontalplane backstepping controller were designed based on the Lyapunov stability principle，achieving depth and heading control for the AUV. Simulation results demonstrate that the backstepping controller achieves excellent control performance both in disturbance-free scenarios and under model parameter perturbations. Under the combined effects of model parameter perturbations and random current disturbances，slight jiter occurs in the vehicle's control， but the jitter amplitude remains within a controllable range， still satisfying the control requirements.

Key words： AUV; motion control; backstepping method; uncertain disturbances

1 引言

在海洋探索開發(fā)方面，自主水下航行器（AUV發(fā)揮著不可或缺的重要作用[-2]。（剩余8191字）