基于扰动观测器增强的同轴HAUV自适应反步跟踪控制
收稿日期: 2024-03-08
修回日期: 2024-04-19
录用日期: 2024-07-19
网络出版日期: 2024-08-05
基金资助
中国空气动力研究与发展中心风雷青年创新基金(FL018070012);国防重点实验室基金(614222003061709)
Nonlinear disturbance observer enhanced adaptive backstepping tracking control for coaxial HAUV
Received date: 2024-03-08
Revised date: 2024-04-19
Accepted date: 2024-07-19
Online published: 2024-08-05
Supported by
The Feng Lei Youth Innovation Fund of CARDC(FL018070012);National Defense Key Laboratory Fund(614222003061709)
实现稳定且精确的轨迹跟踪是水空两栖航行器（HAUV）实现跨介质运动操作的前提。为解决同轴HAUV在面临建模不确定性和外界环境复杂干扰的水空跨介质轨迹跟踪控制问题，一种非线性扰动观测器（NDO）增强的自适应反步控制器（ABSC）被设计出来。对同轴HAUV的介质跨越机理进行分析，充分考虑了如水体、风浪流等带来的附加变量，通过设计光滑的过渡函数建立了连续的动力学模型。在反步控制器（BSC）构成的控制器基础框架上，通过集成NDO来估计难以测量的集总不确定性，并引入自适应算法补偿NDO的观测误差。自适应算法和NDO联合作用，共同提高了系统鲁棒性。通过李雅普诺夫理论证明了闭环系统稳定性。仿真结果表明，本文所设计的控制器对未知扰动具有较强抑制能力，能够实现对水-空跨越轨迹的有效跟踪。
逯明清 , 廖飞 , 高福奎 , 邢贝贝 , 吴世崇 , 范召林 , 苏玉民 , 吴文华 . 基于扰动观测器增强的同轴HAUV自适应反步跟踪控制[J]. 航空学报, 2024 , 45(23) : 330361 -330361 . DOI: 10.7527/S1000-6893.2024.30361
The stable and accurate trajectory tracking is a prerequisite for Hybrid Aerial Underwater Vehicle （HAUV） to achieve trans-media motion operation. To address the trajectory tracking control problem of coaxial HAUV in water-air cross-medium environments， which faces modeling uncertainty and complex interference， a Nonlinear Disturbance Observer （NDO） enhanced Adaptive Backstepping Controller （ABSC） is designed. The cross-domain mechanism of coaxial HAUV is analyzed， the additional variables such as water， wind and wave are fully considered， and a continuous cross-media dynamic model is established by using smooth and continuous transition function design. Based on the basic framework of Backstepping Controller（BSC）， the integrated NDO is used to estimate lumped uncertainty which is difficult to measure， and an adaptive algorithm is introduced to compensate the observation error of NDO. The combination of adaptive algorithm and NDO improves the robustness of the system. The stability of the closed loop system is proved by Lyapunov theory. The simulation results show that the controller designed in this paper has a strong ability to suppress the unknown disturbance and can effectively track the water-air cross-domain trajectory.
| 1 | SHAKHATREH H， SAWALMEH A H， AL-FUQAHA A， et al. Unmanned aerial vehicles （UAVs）： A survey on civil applications and key research challenges［J］. IEEE Access， 2019， 7： 48572-48634. |
| 2 | LIU X， ZHANG M J， CHEN J W， et al. Trajectory tracking with quaternion-based attitude representation for autonomous underwater vehicle based on terminal sliding mode control［J］. Applied Ocean Research， 2020， 104： 102342. |
| 3 | YANG X B， WANG T M， LIANG J H， et al. Survey on the novel hybrid aquatic-aerial amphibious aircraft： Aquatic unmanned aerial vehicle （AquaUAV）［J］. Progress in Aerospace Sciences， 2015， 74： 131-151. |
| 4 | PELOQUIN R A， THIBAULT D， DESBIENS A L. Design of a passive vertical takeoff and landing aquatic UAV［J］. IEEE Robotics and Automation Letters， 2017， 2（2）： 381-388. |
| 5 | DREWS P L J， NETO A A， CAMPOS M F M. Hybrid unmanned aerial underwater vehicle： Modeling and simulation［C］∥2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway： IEEE Press， 2014： 4637-4642. |
| 6 | ZIMMERMAN S， ABDELKEFI A. Review of marine animals and bioinspired robotic vehicles： Classifications and characteristics［J］. Progress in Aerospace Sciences， 2017， 93： 95-119. |
| 7 | ZENG Z， LYU C X， BI Y B， et al. Review of hybrid aerial underwater vehicle： Cross-domain mobility and transitions control［J］. Ocean Engineering， 2022， 248： 110840. |
| 8 | MAIA M M， MERCADO D A， DIEZ F J. Design and implementation of multirotor aerial-underwater vehicles with experimental results［C］∥2017 IEEE/RSJ International Conference on Intelligent Robots and Systems （IROS）. Piscataway： IEEE Press， 2017： 961-966. |
| 9 | MERCADO D A， MAIA M M， DIEZ F J. Aerial-underwater systems， a new paradigm in unmanned vehicles［C］∥2017 International Conference on Unmanned Aircraft Systems （ICUAS）. Piscataway： IEEE Press， 2017： 1690-1695. |
| 10 | ALZU’BI H， MANSOUR I， RAWASHDEH O. Loon Copter： Implementation of a hybrid unmanned aquatic-aerial quadcopter with active buoyancy control［J］. Journal of Field Robotics， 2018， 35（5）： 764-778. |
| 11 | QI D， FENG J F， LI Y L. Dynamic model and ADRC of a novel water-air unmanned vehicle for water entry with in-ground effect［J］. Journal of Vibroengineering， 2016， 18（6）： 3743-3756. |
| 12 | MA Z C， FENG J F， YANG J. Research on vertical air-water trans-media control of Hybrid Unmanned Aerial Underwater Vehicles based on adaptive sliding mode dynamical surface control［J］. International Journal of Advanced Robotic Systems， 2018， 15（2）： 172988141877053. |
| 13 | CHEN Y Q， LIU Y W， MENG Y R， et al. System modeling and simulation of an unmanned aerial underwater vehicle?［J］. Journal of Marine Science and Engineering， 2019， 7（12）： 444. |
| 14 | CHEN Q， ZHU D Q， LIU Z B. Attitude control of aerial and underwater vehicles using single-input Fuzzy P+ID controller?［J］. Applied Ocean Research， 2021， 107： 102460. |
| 15 | LU D， XIONG C K， ZENG Z， et al. Adaptive dynamic surface control for a hybrid aerial underwater vehicle with parametric dynamics and uncertainties［J］. IEEE Journal of Oceanic Engineering， 2020， 45（3）： 740-758. |
| 16 | LU D， GUO Y H， XIONG C K， et al. Takeoff and landing control of a hybrid aerial underwater vehicle on disturbed water’s surface［J］. IEEE Journal of Oceanic Engineering， 2022， 47（2）： 295-311. |
| 17 | 王琛， 惠倩倩， 张帆. 水空跨域多模态共轴无人机设计［J］. 航空学报， 2023， 44（21）： 529047. |
| WANG C， （ XI/HUI） Q Q， ZHANG F. Design of water-air cross-domain multi-mode coaxial UAV［J］. Acta Aeronautica et Astronautica Sinica， 2023， 44（21）： 529047 （in Chinese）. | |
| 18 | LU M Q， LIAO F， XING B B， et al. Adaptive finite-time trajectory tracking control for coaxial HAUVs facing uncertainties and unknown environmental disturbances［J］. Applied Sciences， 2023， 13（14）： 8026. |
| 19 | 颜奇民， 胡俊华， 陈国明， 等. 双层四旋翼跨介质航行器水空跨越建模与控制［J］. 飞行力学， 2020， 38（5）： 7. |
| YAN Q M， HU J H， CHEN G M， et al. Modeling and control on air-water crossing of a double-layer quadrotor trans-media vehicle［J］. Flight Dynamics， 2020， 38（5）： 7 （in Chinese）. | |
| 20 | 盛振邦， 刘应中. 船舶原理-下册［M］. 上海： 上海交通大学出版社， 2004. |
| SHENG Z B， LIU Y Z. Principles of ships-volume II［M］. Shanghai： Shanghai Jiao Tong University Press， 2004 （in Chinese）. | |
| 21 | ZHU C， HUANG B， ZHOU B， et al. Adaptive model-parameter-free fault-tolerant trajectory tracking control for autonomous underwater vehicles［J］. ISA Transactions， 2021， 114： 57-71. |
| 22 | 赵永生， 曹健， 范云生， 等. 基于干扰观测器的四旋翼轨迹跟踪控制［J］. 控制工程， 2021， 28（4）： 628-637. |
| ZHAO Y S， CAO J， FAN Y S， et al. Trajectory tracking control for a quadrotor based on disturbance observer［J］. Control Engineering of China， 2021， 28（4）： 628-637 （in Chinese）. | |
| 23 | LIU J， GAI W D， ZHANG J， et al. Nonlinear adaptive backstepping with ESO for the quadrotor trajectory tracking control in the multiple disturbances［J］. International Journal of Control， Automation and Systems， 2019， 17（11）： 2754-2768. |
| 24 | LIU S Y， LIU Y C， WANG N. Nonlinear disturbance observer-based backstepping finite-time sliding mode tracking control of underwater vehicles with system uncertainties and external disturbances［J］. Nonlinear Dynamics， 2017， 88（1）： 465-476. |
| 25 | BI Y B， LU D， ZENG Z， et al. Dynamics and control of hybrid aerial underwater vehicle subject to disturbances［J］. Ocean Engineering， 2022， 250： 110933. |
/
| 〈 |
|
〉 |
CJA