Horizontal Trajectory Tracking Control of AUV Using a Two-way Channel High Gain Observer
作者单位：Harbin Engineering University Northeast Forestry University
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the National Nature Science Foundation of China under Grants 51105088/51179038/51609048/51409055 the Harbin Science and Technology Bureau under Grant 2016RAQXJ080 the Heilongjiang Province Science Foundation for Youths under Grant QC2017051
关 键 词：autonomous underwater vehicle(AUV) trajectory tracking high gain observer backstepping
摘 要：As the complexity and variety of actual sea conditions,autonomous underwater vehicles（AUVs） are subject to unknown disturbances in the horizontal plane which can cause the control system *** this paper,the kinematics and the dynamics of an under-actuated AUV in horizontal plane are simplified considering environmental *** the trajectory tracking error of the system is *** external disturbances are estimated by using a high gain observer,which can not be directly *** observer is designed in two-way channels of longitudinal velocity and transverse *** order to deal with nonholonomic constraints,coupling,nonlinearity and current disturbance in the tracking control,a trajectory tracking controller is designed using the backstepping method,which can make the closed-loop system globally eventual *** order to verify the robustness and validity of the proposed controller,a sinusoidal time-varying trajectory curve is designed from the perspective of practical *** numerical simulation shows that the vehicle can track the desired trajectory and the tracking error tends to zero quickly.