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针对浮力驱动式水下滑翔机动力学模型及参数的不确定性,研究了滑翔机纵倾运动跟踪控制问题。首先建立俯仰角与滑块位移的关系,综合应用Lyapunov方法和反演技术设计了非线性自适应跟踪控制器,用自适应机制克服了模型参数的不确定性,在反演镇定函数中引入了积分项,进一步提高了消除稳态跟踪误差的能力,进而将得到的滑块位移作为参考输入,利用反演法设计滑块伺服控制器,使水下滑翔机能够全局渐近跟踪俯仰角参考指令。基于Lyapunov理论证明了系统的稳定性及跟踪误差的收敛性。仿真结果表明,该方法验证了控制器的全局渐近稳定性及对模型不确定参数的自适应性。
Aiming at the uncertainty of dynamic model and parameters of buoyancy-driven underwater glider, the tracking control of glider’s pitch motion is studied. Firstly, the relationship between the pitch angle and the displacement of the slider is established. A nonlinear adaptive tracking controller is designed by Lyapunov method and inversion technique. The adaptive mechanism is used to overcome the uncertainty of the model parameters. In the inversion stabilization function, The integral term further improves the capability of eliminating the steady-state tracking error, and then uses the obtained displacement of the slider as a reference input. The slider servo controller is designed by using the inversion method so that the underwater glider can track the pitch reference command globally asymptotically. Based on Lyapunov theory, the stability of the system and the convergence of the tracking error are proved. The simulation results show that the proposed method verifies the global asymptotic stability of the controller and its adaptability to uncertain parameters of the model.