Depth backstepping control method for underactuated autonomous underwater vehicle on the basis of dynamic surface slip form

Abstract

The invention belongs to the field of robots, and discloses a depth backstepping control method for an underactuated autonomous underwater vehicle on the basis of a dynamic surface slip form. The method comprises the following steps that: S(1) combining with the kinematic model of the autonomous underwater vehicle on a vertical plane to determine a control target as the convergence of a tracking error; S(2) on the basis of a backstepping method, designing a Lyapunov function, importing a virtual control variable, and designing a dynamic surface to eliminate a differential explosion phenomenoncaused by a traditional backstepping method; S(3) combining S(1) with S(2) to design a slip form surface and an adaptive control law to solve a depth control problem; and S(4) combining data in S(2) and S(3), according to a Lyapunov theory of stability and a comparison principle, using a closed-loop tracking error to regulate gain convergence to a compressed boundary set which is almost zero, andguaranteeing the semi-global uniform boundedness of a control system. By use of the method, the problems of model uncertainty and environment interference are solved, and the method is high in traceability for an expected path.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a depth backstepping control method of an underactuated cableless underwater robot based on a dynamic surface sliding mode. Background technique [0002] Underwater robots are mainly divided into two categories: one is a cable underwater robot, which is commonly called a remote control submersible; the other is a cableless underwater robot, which is commonly called an autonomous underwater vehicle. Autonomous underwater robot is a new generation of underwater robot, which has the advantages of large range of activities, good mobility, safety, and intelligence, and has become an important tool for completing various underwater tasks. For example, in the civilian field, it can be used for laying pipelines, seabed investigation, data collection, drilling support, seabed construction, maintenance and repair of underwater equipment, etc.; Since the cable-free underwater robot has th...

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Problems solved by technology

But this method is not optimized for differential explosion, and the ability to track the desired path is not strong

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