基于自抗扰理论的欠驱动AUV无模型自适应路径跟踪控制付少波, 关夏威, 张 昊(武汉第二船舶设计研究所, 湖北 武汉, 430205)摘 要: 面向自主水下航行器(AUV)精准回收的任务需求, 针对AUV运动中模型不确定性、易受环境干扰导致的路径跟踪精度不足的问题, 从无模型控制的角度出发, 提出了一种适用于AUV的基于自抗扰控制理论的无模型自适应控制(ADRC-MFAC)算法。
该算法针对2阶系统模型特性, 结合视线角制导重新设计控制输入准则函数对无模型自适应控制(MFAC)进行了改进, 解决了MFAC只适用于自衡系统的问题。
引入跟踪微分器对期望信号进行指令平滑, 考虑未知复合干扰的影响设计了线性扩张状态观测器, 在控制器中对估计扰动进行补偿, 并证明了所提控制器的稳定性, 提升了系统鲁棒性。
在同样的干扰情况下, 文中控制方案相比传统比例-积分-微分控制器抗干扰能力提升了42.37%, 控制精度提高了45%, 表明ADRC-MFAC能够明显改善AUV的抗干扰性能, 提高路径跟踪精度。
关键词: 自主水下航行器; 无模型自适应控制; 路径跟踪; 自抗扰中图分类号: TJ63; U674 文献标识码: A 文章编号: 2096-3920(2024)02-0328-09DOI: 10.11993/j.issn.2096-3920.2023-0120Model-Free Adaptive Path Tracking Control Based on Active DisturbanceRejection Control for AUVsFU Shaobo, GUAN Xiawei, ZHANG Hao(Wuhan Second Ship Design and Research Institute, Wuhan 430205, China)Abstract: In view of the task requirements of accurate recovery of autonomous undersea vehicles(AUVs), a model-free adaptive control based on the active disturbance rejection control(ADRC-MFAC) algorithm was proposed from the perspective of model-free control, so as to improve the insufficient path tracking accuracy caused by model uncertainty and vulnerability to environmental interference in AUV motion. According to the characteristics of the second-order model system and line-of-sight guidance, the MFAC was improved by redesigning the control input criterion function, solving the problem that MFAC was only applicable to the self-balancing system. A tracking differentiator was introduced to smooth the desired signal, and a linear extended state observer was designed by considering the influence of unknown compound interference. The estimated disturbance was compensated for in the controller. The stability of the controller was verified, and system robustness was improved. Under the same interference, the proposed control scheme could improve the anti-interference ability and control precision by 42.37% and 45%, compared with the traditional proportional-integral-differential controller. The result shows that ADRC-MFAC can significantly improve the anti-interference performance of AUVs and enhance path tracking accuracy. Keywords: autonomous undersea vehicle; mode-free adaptive control; path tracking; active disturbance rejection收稿日期: 2023-10-10; 修回日期: 2023-12-02.基金项目: 湖北省青年拔尖人才基金资助.作者简介: 付少波(2000-), 男, 硕士, 主要研究方向为自主水下航行器导航与控制技术.第 32 卷第 2 期水下无人系统学报Vol.32 N o.2 2024 年 4 月JOURNAL OF UNMANNED UNDERSEA SYSTEMS Apr. 2024[引用格式] 付少波, 关夏威, 张昊. 基于自抗扰理论的欠驱动AUV无模型自适应路径跟踪控制[J]. 水下无人系统学报, 2024, 32(2): 328-336.0 引言海洋是人类赖以生存和发展的空间, 蕴藏着丰富资源[1]。
第29卷第1期 水下无人系统学报 Vol.29No.12021年2月JOURNAL OF UNMANNED UNDERSEA SYSTEMS Feb. 2021收稿日期: 2020-03-13; 修回日期: 2020-04-23.基金项目: 国家重点研发计划项目资助(2017YFC0306704).作者简介: 黄博伦(1989-), 男, 在读博士, 主要研究方向为水下机器人控制技术.[引用格式] 黄博伦, 杨启. 基于super-twisting 二阶滑模算法的作业型ROV 路径跟踪控制方法[J]. 水下无人系统学报, 2021,29(1): 14-22.基于super-twisting 二阶滑模算法的作业型ROV 路径跟踪控制方法黄博伦1, 杨 启1,2(1. 上海交通大学高新船舶与海洋开发装备协同创新中心 海洋工程国家重点实验室, 上海, 200240; 2. 上海交通大学 海洋水下工程科学研究院有限公司, 上海, 200231)摘 要: 作业型遥控无人水下航行器(ROV)的运动存在时变外界干扰和系统不确定性, 利用常规滑模方法设计其运动控制器会产生抖振现象, 而常用的饱和函数联合边界层法(SatSMC)在消除抖振的同时无法保证控制精度。
针对上述问题, 文中设计了super-twisting 二阶滑模控制器(STSMC)来实现作业型ROV 的空间路径跟踪。
利用Lyapunov 方法分析了系统的稳定性, 并证明该方法能够保证跟踪误差在有限时间内收敛。
将提出的STSMC 与SatSMC 及比例-积分-微分法进行了仿真试验对比, 结果表明: STSMC 能够使ROV 完成对既定路径的跟踪, 并具有更好的鲁棒性、快速性和控制精度, 同时产生的抖振也明显小于SatSMC, 控制参数也未增加, 更适于ROV 的实际使用。
关键词: 遥控无人水下航行器; super-twisting 算法; 滑模控制; 路径跟踪中图分类号: TJ630; TB53 文献标识码: A 文章编号: 2096-3920(2021)01-0014-09 DOI: 10.11993/j.issn.2096-3920.2021.01.003Trajectory Tracking Control Method of a Work-class ROV Based on aSuper-twisting Second-order Sliding Mode ControllerHUANG Bo-lun 1, YANG Qi 1,2(1. Collaborative Innovation Center for Advanced Ship and Deep-sea Exploration, State Key laboratory of Ocean Engi-neering, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Shanghai Jiaotong University Underwater Engineering Institute Co. Ltd .Shanghai 200231. China)Abstract: Time-varying external disturbances and system uncertainties affect the motion of work-class remote-operated vehicles(ROVs). The conventional sliding mode method for ROV motion control has the drawback of a chattering phe-nomenon, whereas the common method for eliminating chattering, namely, the saturation function combined with a boundary layer sliding mode controller(SatSMC), cannot guarantee control accuracy. To address these problems, a su-per-twisting second-order sliding mode controller(STSMC) is proposed to realize trajectory tracking of a work-class ROV. The Lyapunov method is used to analyze the stability of the system. It is proved that the proposed controller can ensure the convergence of a tracking error in finite time. A simulation experiment of the proposed STSMC and SatSMC methods and the proportional integral derivative(PID) control are compared. Results show that the STSMC method ena-bles the ROV to complete the tracking of a predetermined path. This method also has stronger robustness, rapidity and accuracy. The chattering of the STSMC is also significantly reduced compared to that of the SatSMC. In addition, the2021年2月黄博伦, 等: 基于super-twisting二阶滑模算法的作业型ROV路径跟踪控制方法第1期control parameters are not increased, making the STSMC more suitable for actual use with ROVs.Keywords: remote-operated vehicle; super-twisting algorithm; sliding mode control; trajectory tracking0 引言遥控无人水下航行器(remote operated vehicle, ROV)已经广泛应用在深海探测、海底管线维修、深海采矿和水底搜救等深海任务中, 成为人类探索海洋、开发海洋、保护海洋不可或缺的工具。
基于磁悬浮小车系统的自适应模糊滑模-PID混合控制方案刘合祥;胡敏强;余海涛;余莉
【期刊名称】《电工技术学报》
【年(卷),期】2013(028)006
【摘要】首先利用小车悬浮动能及拉格朗日方程建立了其数学模型.针对磁悬浮小车非线性、时变性的控制问题,提出了一种变论域自适应模糊滑模-PID混合控制策略.由模糊伸缩因子和滑模条件出发,根据李雅普诺夫稳定条件,导出该控制策略的自适应律；为了消除滑模抖振现象以及使模糊滑模控制与PID控制平滑过渡,特设计了监督控制器.最后进行了仿真和试验分析,结果证明了控制策略的有效性.
【总页数】8页(P93-100)
【作者】刘合祥;胡敏强;余海涛;余莉
【作者单位】东南大学电气工程学院南京 210096;东南大学电气工程学院南京210096;东南大学电气工程学院南京 210096;南京信息工程大学南京 210044【正文语种】中文
【中图分类】TP273+.4
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