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中文摘要：
为实现外界干扰作用下水下机器人（AUV）的三维航迹跟踪控制,提出基于动态面和L2干扰抑制的控制方法.该方法基于李雅普诺夫稳定性分析理论,对严格反馈系统中的非线性系统进行控制设计,采用动态面控制方法有效避免了用后推方法产生的＂计算爆炸＂问题,并用L2干扰抑制控制器将外界干扰予以抑制.针对某水下机器人模型,利用Matlab进行数值仿真,结果表明,该控制器对外界干扰有较好的抑制作用,可以实现水下机器人三维航迹的精确跟踪控制.
英文摘要：
To realize the three-dimensional trajectory tracking control for an autonomous underwater vehicle（AUV） under the conditions of external interference,this paper proposed an approach based on dynamic surface control（DSC） and L2 disturbance attenuation.The control design was made for a class of nonlinear systems in strict-feedback form by using the DSC method based on Lyapunov stability theory.The dynamic surface control method was used so as to avoid the problem of ＂explosion of complexity＂ effectively by using the traditional backstepping method,and the external disturbance was suppressed by using the L2 disturbance attenuation controller.A numerical simulation was carried out for an AUV by utilizing Matlab,and results show that the designed controller suppresses the influence of external disturbance well,which can achieve three-dimensional trajectory tracking control performance effectively.
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