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首页> 外文期刊>Ocean Engineering >Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles
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Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles

机译：用于自主水下航行器轨迹跟踪的三个指数收敛鲁棒控制器的设计

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摘要

This paper deals with the trajectory tracking problem of autonomous underwater vehicles (AUVs) in the presence of dynamic uncertainties and time -varying external disturbances. Three exponentially convergent robust controllers, namely, the min-max type controller, the saturation type controller and the smooth transition type controller are proposed to drive an AUV to track a predefined trajectory. It is shown that the filtered tracking errors, position tracking errors and velocity tracking errors for the three proposed controllers are exponentially convergent. Moreover, all the above tracking errors for the three proposed controllers can be shaped by specific analytic expressions and such expressions illustrate how the transient responses of the above tracking errors can be modified by adjusting the control parameters. The characteristics of the three proposed controllers are summarized and demonstrated with numerical simulations. Theoretical comparison analysis and comparative simulations with the existing RISE-based controller of AUV are presented to show the effectiveness of the three proposed exponentially convergent robust controllers.
机译：本文在存在动态不确定性和时变外部干扰的情况下，解决了自动水下航行器的轨迹跟踪问题。提出了三种指数收敛的鲁棒控制器，即最小-最大型控制器，饱和型控制器和平滑过渡型控制器，以驱动AUV跟踪预定轨迹。结果表明，所提出的三个控制器的滤波跟踪误差，位置跟踪误差和速度跟踪误差均呈指数收敛。此外，可以通过特定的解析表达式来调整三个建议控制器的所有上述跟踪误差，这些表达式说明了如何通过调节控制参数来修改上述跟踪误差的瞬态响应。总结了这三种控制器的特性，并通过数值模拟对其进行了演示。提出了与现有的基于RISE的AUV控制器进行理论比较分析和比较仿真，以证明这三种提出的指数收敛鲁棒控制器的有效性。

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  • 来源
    《Ocean Engineering》 |2017年第1期|157-172|共16页
  • 作者

    Qiao Lei; Yi Bowen; Wu Defeng; Zhang Weidong;

  • 作者单位

    Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China|Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China;

    Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China|Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China;

    Jimei Univ, Sch Marine Engn, Xiamen 361021, Peoples R China|Fujian Prov Key Lab Naval Architecture & Ocean En, Xiamen 361021, Peoples R China;

    Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China|Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Autonomous underwater vehicles (AUVs); Trajectory tracking; Exponential convergence; Robust control;

    机译：自主水下航行器（AUV）;轨迹跟踪;指数收敛;稳健控制;

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