AUV三维轨迹跟踪滑模控制研究On Sliding Mode Control of AUV Three-dimensional Trajectory Tracking
孙国庆,靳华伟,闫方正
摘要(Abstract)：
在复杂海洋环境中，对自主水下航行器(AUV)进行轨迹跟踪时常受到参数不确定性、外部扰动及执行器饱和等问题的影响，导致跟踪精度和系统稳定性不足.为了解决这些问题，研究提出了一种改进的滑模控制策略.通过建立AUV的六自由度运动学和动力学模型，设计了积分滑模控制器，并引入扰动观测器来估计和补偿海流等不确定性因素.同时，采用指令滤波器优化控制信号的平滑性，增强系统的动态响应能力.针对执行器输入饱和问题，设计了抗饱和辅助系统以提升控制系统的鲁棒性.仿真实验结果表明，所提出的控制策略能够有效地使AUV跟踪预设轨迹，且跟踪误差趋于零，验证了控制方法的有效性.
关键词(KeyWords)： 自主水下航行器;轨迹跟踪;滑模控制;扰动观测器
基金项目(Foundation):
作者(Author): 孙国庆,靳华伟,闫方正
DOI: 10.16393/j.cnki.37-1436/z.2025.02.013
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