欠驱动
控制理论(社会学)
执行机构
收缩(语法)
跟踪误差
奇异摄动
计算机科学
弹道
观察员(物理)
控制工程
数学
工程类
人工智能
控制(管理)
物理
数学分析
医学
量子力学
天文
内科学
作者
Caipeng Ma,Jinjun Jia,Tiedong Zhang,Shaoqun Wu,Dapeng Jiang
摘要
In this paper, contraction theory is applied to design a control law to address the horizontal trajectory tracking problem of an underactuated autonomous underwater vehicle. Suppose that the vehicle faces challenges such as model uncertainties, external environmental disturbances, and actuator saturation. Firstly, a coordinate transformation is introduced to solve the problem of underactuation. Then, a disturbance observer is designed to estimate the total disturbances, which are composed of model uncertainties and external environmental disturbances. Next, a saturated controller is designed based on singular perturbation theory and contraction theory. Meanwhile, contraction theory is used to analyse the convergence properties of the observer and the full singular perturbation system, and make quantitative analysis of the estimation error and the tracking error. Finally, the results of numerical simulations prove that the method in this paper enables the vehicle to track the desired trajectory with relatively high accuracy, while the control inputs do not exceed the limitations of the actuators.
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