不确定干扰下基于反步法的AUV运动控制

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中图分类号：TP24

文献标志码：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

在海洋探索开发方面，自主水下航行器（AUV发挥着不可或缺的重要作用[-2]。（剩余8191字）