未知海流干扰下自主水下航行器位置跟踪控制策略研究

An adaptive nonlinear robust position tracking controller was designed by using the backstepping control technique based on Lyapunov stability theory, which is used for the position tracking of a new class of underactuated underwater vehicles (AUVs) with the parameter uncertainties under the external disturbances of ocean currents in the horizontal plane. The adaptive control technique is used to compensate the uncertainties of underwater vehicle. And the adaptive fuzzy control scheme is proposed to optimize the sliding mode items in the controller. An ocean current observer is presented based on the backstepping method to estimate the unknown time-varing ocean currents. The stability of AUV systems including position tracking controller and current observer was demonstrated based on the Lyapunov stability theory. The simulated results verified the effectiveness and robustness of the proposed nonlinear controller through a new class of flying-wing autonomous underwater vehicles.