Dynamic surface backstepping trajectory tracking control of unmanned underwater vehicles with ocean current disturbances

被引：2
|
作者：
Cao X. [1 ]
Wei Y. [1 ]
Heng H. [1 ]
Shen Z. [2 ]
机构：
[1] Department of Missile and Weapons, Navy Submarine Academy, Qingdao
[2] School of Maritime Electrical Engineering, Dalian Maritime University, Dalian
来源：
Cao, Xiaoming | 1664年 / Chinese Institute of Electronics卷 / 43期
关键词：
Dynamic surface control (DSC); Ocean currents observer; Three dimensional trajectory tracking; Unmanned underwater vehicle (UUV);
D O I：
10.12305/j.issn.1001-506X.2021.06.25
中图分类号：
学科分类号：
摘要：
Aiming at the trajectory tracking problem of unmanned underwater vehicle (UUV) with unknown ocean current disturbances, a dynamic surface backstepping trajectory tracking control strategy of underdrive UUV is proposed. Firstly, the novel ocean currents observer is designed to estimate the unknown ocean current disturbances of the dynamics equations. Then, the three dimensional trajectory tracking controllers are designed to combine backstepping method with dynamic surface control (DSC) technique, which can transform the differential operation in control algorithm into a simple algebraic operation, then reduce the complexity and avoid differential explosion of the control algorithm. Furthermore, the Lyapunov function is selected to prove the closed-loop stability of system. Finally, the designed controller is verified by simulation. The simulation results show that the proposed observer can effectively deal with time-varying ocean current disturbances, and accurately realize the trajectory tracking control of UUV. © 2021, Editorial Office of Systems Engineering and Electronics. All right reserved.
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页码：1664 / 1672
页数：8
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