输入饱和下的AUV自适应神经网络预设性能控制

徐文峰; 刘加朋; 于金鹏; 韩亚宁

doi:10.11993/j.issn.2096-3920.2023-0041

输入饱和下的AUV自适应神经网络预设性能控制

doi: 10.11993/j.issn.2096-3920.2023-0041

徐文峰¹,
刘加朋^{1, 2},
于金鹏^{1, 2},
韩亚宁¹

1.
青岛大学自动化学院, 山东青岛, 266071
2.
山东省工业控制技术重点实验室, 山东青岛, 266071

基金项目: 山东省自然科学基金资助项目(ZR2020QF063).

详细信息

作者简介:
徐文峰(1998-), 男, 在读硕士, 主要研究方向为水下无人机跟踪控制

中图分类号: TP273; TP18
计量
- 文章访问数: 43
- HTML全文浏览量: 12
- PDF下载量: 3
- 被引次数: 0
出版历程
- 收稿日期: 2023-04-18
- 修回日期: 2023-05-21
- 录用日期: 2023-07-12
- 网络出版日期: 2023-12-13

Adaptive Neural Network-Based Prescribed Performance Control of AUVs with Input Saturation

1.
School of Automation, Qingdao University, Shandong Qingdao 266071, China
2.
Shandong Provincial Key Laboratory of Industrial Control Technology, Shandong Qingdao 266071, China

摘要

摘要: 针对自主水下航行器(AUV)系统不确定性及输入饱和问题, 提出了一种改进的自适应神经网络预设性能控制策略, 完成对期望轨迹的跟踪。首先, 引入非线性变换, 使位置误差始终处在预设时变范围内, 提高了控制精度, 并基于反步法和Lyapunov函数设计系统虚拟控制律; 然后, 利用神经网络技术处理系统模型未知参数, 并重构系统真实控制律, 使传统反步控制策略得以简化, 有效降低了计算复杂度, 并在Lyapunov稳定性理论的基础上, 证明了AUV系统的误差信号均有界; 最后, 与传统动态面控制方法进行对比, 仿真结果表明所提出的控制策略控制性能更好, 在考虑输入饱和情况下可有效克服不确定性对系统性能的影响, 实现对目标轨迹的有效跟踪。
- 自主水下航行器 /
- 神经网络 /
- 反步控制 /
- 轨迹跟踪
Abstract: Aiming at the problems of system uncertainty and input saturation of autonomous underwater vehicle(AUV), an improved adaptive neural network-based prescribed performance control strategy is proposed to track the desired trajectory. Firstly, nonlinear transformation is introduced to ensure that the position error remains within the preset time-varying range, improving control accuracy. Based on backstepping and Lyapunov functions, a virtual control law for the system is designed. Then, the neural network technology is used to process the unknown parameters of the system model, and the real control law of the system is reconstructed, which simplifies the traditional backstepping control strategy and effectively reduces the computational complexity. Then, based on the Lyapunov stability theory, the error signals of AUV system are all bounded. Finally, compared with traditional dynamic surface control methods, simulation results show that the proposed control strategy has better control performance and can effectively overcome the impact of uncertainty on system performance when considering input saturation, achieving effective tracking of target trajectories.
- autonomous underwater vehicle /
- neural network /
- backstepping control /
- trajectory tracking

HTML全文

图 1 AUV坐标系定义

Figure 1. Coordinate system definition of an AUV

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图 2 AUV位置误差曲线

Figure 2. Position error curves of AUV

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图 3 AUV在xoy平面运行轨迹

Figure 3. The AUV running trajectory in the xoy plane

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图 4 AUV位置跟踪曲线

Figure 4. Position tracking curves

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图 5 AUV执行力矩曲线

Figure 5. Control of the input curves

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图 6 20%模型误差下AUV在xoy平面运行轨迹

Figure 6. The AUV running trajectory in the xoy plane

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图 7 20%模型误差下AUV位置跟踪曲线

Figure 7. Position tracking curves

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图 8 20%模型误差下AUV执行力矩曲线

Figure 8. Control of the input curves

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表 1 模型参数

Table 1. Model parameters

参数	数值	参数	数值
$ {m / {{\text{kg}}}} $	116.0	$ {{{N_r}} / {({{{\text{kg}} \cdot {\text{m}}} \mathord{\left/ {\vphantom {{{\text{kg}} \cdot {\text{m}}} {\text{s}}}} \right. } {\text{s}}})}} $	3.5
$ {{{I_z}} / {({\text{kg}} \cdot {{\text{m}}^2})}} $	13.1	$ {{{D_u}} / {({{{\text{kg}}} \mathord{\left/ {\vphantom {{{\text{kg}}} {\text{m}}}} \right. } {\text{m}}})}} $	241.3
$ {{{X_{\dot u}}} / {{\text{kg}}}} $	−167.6	$ {{{D_v}} / {({{{\text{kg}}} \mathord{\left/ {\vphantom {{{\text{kg}}} {\text{m}}}} \right. } {\text{m}}})}} $	503.8
$ {{{Y_{\dot v}}} / {{\text{kg}}}} $	−477.2	$ {{{D_r}} / {({{{\text{kg}} \cdot {\text{m}}} \mathord{\left/ {\vphantom {{{\text{kg}} \cdot {\text{m}}} {\text{s}}}} \right. } {\text{s}}})}} $	76.9
$ {{{N_{\dot r}}} / {{\text{kg}}}} $	−15.9	$ {{{M_{\dot u}}} / {{\rm{kg}}}} $	283.6
$ {{{X_u}} / {({{{\text{kg}}} \mathord{\left/ {\vphantom {{{\text{kg}}} {\text{s}}}} \right. } {\text{s}}})}} $	26.9	$ {{{M_{\dot v}}} / {{\rm{kg}}}} $	593.2
$ {Y}_{v}/(\text{kg}/\text{s}) $	35.8	$ {{{M_{\dot r}}} /{{\rm{kg}}}} $	29.0

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表 2 各方向均方误差对比

Table 2. Comparison of the MSE in different directions

参数	文中方法	动态面控制
$ {x_{\rm{mse}}} $/m²	0.000 3	0.005 1
$ {y_{\rm{mse}}} $/m²	0.000 1	0.002 0
$ {\psi _{\rm{mse}}} $/rad²	0.021 4	0.082 1

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