基于反步法的欠驱动UUV的3维路径跟踪控制

3D Path Following Control of Underactuated UUV Based on Backstepping

摘要: 研究了欠驱动无人水下航行器（unmanned underwater vehicle，UUV）在3维空间中的路径跟踪控制器设计及其稳定性分析问题．首先建立2阶积分器形式的欠驱动UUV空间6自由度运动模型和动力学模型．针对该运动模型，以位置误差作为虚拟控制变量，基于反步法（backstepping）设计路径跟踪控制器．根据李亚普诺夫理论，在理论上证明了所设计的路径跟踪控制系统是稳定的．该控制器实现了欠驱动UUV 3维空间的路径跟踪控制．仿真结果验证了控制器的有效性．

Abstract: Path following controller design of underactuated unmanned underwater vehicle (UUV) and its stability analysis in 3-dimensional space are studied. Firstly, a 6-DOF (degrees of freedom) kinematic model and a 6-DOF dynamic model of the underactuated UUV in the form of second-order integrator are established. For the kinematic model, taking the position errors as the virtual control variable, a path following controller is designed based on backstepping. It is theoretically proved that the designed path following control system is stable according to the Lyapunov theory. The path following control of underactuated UUV in 3-dimensional space is realized by the controller. The simulation results demonstrate its effectiveness.