CAJ | 학술논문

针对模型参数不确定及存在外界海流扰动情况下全驱型无人水下航行器（UUV）的航迹跟踪问题，提出了一种双闭环Terminal滑模控制方法。首先，为了防止UUV位置和姿态跟踪控制出现超调量过大的问题，在外环中引入位置和姿态负反馈，设计了UUV的参考速度作为镇定UUV位置和姿态跟踪误差的虚拟控制律。然后，在内环中将虚拟控制律作为跟踪目标。考虑到传统滑模控制会出现“抖振”现象，采用Terminal滑模控制方法，在消除“抖振”的同时，使滑模面上的速度跟踪误差在有限时间内收敛到稳态。最后，运用Lyapunov稳定性理论证明了该双闭环Terminal滑模控制系统的稳定性。仿真结果表明，该控制方法能够实现UUV对空间航迹的精确跟踪。
침대모형삼수불학정급존재외계해류우동정황하전구형무인수하항행기（UUV）적항적근종문제，제출료일충쌍폐배Terminal활모공제방법。수선，위료방지UUV위치화자태근종공제출현초조량과대적문제，재외배중인입위치화자태부반궤，설계료UUV적삼고속도작위진정UUV위치화자태근종오차적허의공제률。연후，재내배중장허의공제률작위근종목표。고필도전통활모공제회출현“두진”현상，채용Terminal활모공제방법，재소제“두진”적동시，사활모면상적속도근종오차재유한시간내수렴도은태。최후，운용Lyapunov은정성이론증명료해쌍폐배Terminal활모공제계통적은정성。방진결과표명，해공제방법능구실현UUV대공간항적적정학근종。
This paper proposes a double closed-loop Terminal sliding mode control methodology with mod?el parameters uncertainty for the trajectory tracking of fully actuated unmanned underwater vehicles under external current disturbances. Firstly,to prevent the problem of large overshoot during the position and ori?entation control of UUV,the position and orientation negative feedback is introduced,and the reference velocities are defined in the outer loop,which serves as the virtual control law in stabilizing the tracking er?rors of position and orientation. With respect to the inner loop,the virtual control law is taken as the tracked target. Considering the undesirable chattering effects of conventional sliding mode control meth?ods,a non-singular Terminal sliding mode controller is adopted,which eliminates the chattering effects as well as ensures the velocities' tracking error on the sliding surface to converge to a steady state within finite time. Finally,the stability of the proposed system is analytically proven using the Lyapunov stability theory, and the simulation results show that the control scheme guarantees precise spatial trajectory tracking of UUV.