基于扰动观测器增强的同轴HAUV自适应反步跟踪控制

doi:10.7527/S1000-6893.2024.30361

Abstract

Abstract:

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.

Key words: hybrid aerial underwater vehicle, air-water trans-medium, backstepping controller, nonlinear disturbance observer, robust control

CLC Number:

V249.1

Mingqing LU, Fei LIAO, Fukui GAO, Beibei XING, Shichong WU, Zhaolin FAN, Yumin SU, Wenhua WU. Nonlinear disturbance observer enhanced adaptive backstepping tracking control for coaxial HAUV[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(23): 330361.

Figures/Tables 12

Fig.1

Fig.2

Table 1

System parameters of coaxial HAUV

参数	数值	参数	数值
$m / k g$	7.4	$X u \| u \|, X u \| u \| a / N ⋅ m - 2 ⋅ s 2$	-8.82， -0.001
$I x / k g ⋅ m 2$	0.232	$Y v \| v \|, Y v \| v \| a / N ⋅ m - 2 ⋅ s 2$	-8.82， -0.001
$I y / k g ⋅ m 2$	0.232	$Z w \| w \|, Z w \| w \| a / N ⋅ m - 2 ⋅ s 2$	-4.73， -0.000 5
$I z / k g ⋅ m 2$	0.342	$K p \| p \|, K p \| p \| a / N ⋅ m - 2 ⋅ s 2$	-0.62， -0.000 6
$X u ˙ / k g$	-2.24	$M q \| q \|, M q \| q \| a / N ⋅ m - 2 ⋅ s 2$	-0.62， -0.000 6
$Y v ˙ / k g$	-2.24	$N r \| r \|, N r \| r \| a / N ⋅ m - 2 ⋅ s 2$	-0.32， -0.000 3
$Z w ˙ / k g$	-1.24	$R, H / m$	0.06， 0.5
$K p ˙ / k g ⋅ m 2$	-0.083	$r B / m$	［0 0 0.05］
$M q ˙ / k g ⋅ m 2$	-0.083	$ρ w / k g ⋅ m - 3$	1 025
$N r ˙ / k g ⋅ m 2$	-0.051

Table 1

Table 2

Wind， wave and current simulation parameters

参数	数值	参数	数值
$A x 1 / m$	0.1	$A y 1 / m$	0.07
$A x 2 / m$	0.03	$A y 1 / m$	0.04
$ω x 1 / r a d ⋅ s - 1$	1	$φ x 1 / r a d$	0
$ω x 2 / r a d ⋅ s - 1$	10	$φ x 2 / r a d$	0
$ω y 1 / r a d ⋅ s - 1$	2	$φ y 1 / r a d$	0
$ω y 2 / r a d ⋅ s - 1$	7	$φ y 2 / r a d$	0
$C d w / N ⋅ m - 2 ⋅ s 2$	0.1	$C m$	0.8
$C d c / N ⋅ m - 2 ⋅ s 2$	0.03	$C D$	0.8
$v w / m ⋅ s - 1$	（0.1，0.1，0）	$v c / m ⋅ s - 1$	［-0.1 -0.1 0］

Table 2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

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Fig.9

Fig.10

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Nonlinear disturbance observer enhanced adaptive backstepping tracking control for coaxial HAUV

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