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中文摘要：
针对参数摄动以及外界环境扰动条件下欠驱动水下无人航行器（UUV）地形跟踪控制任务,提出了一种基于反步法（Backstepping）和积分滑模控制方法（ISMC）的地形跟踪控制策略。首先,利用航行器的运动学特性以及局部Serret-Frenet坐标系,建立UUV地形跟踪误差方程。然后,分别采用反步法和ISMC设计运动学控制（制导律）和动力学控制器。利用有限时间稳定性理论证明该地形跟踪控制策略作用下的闭环运动系统为全局有限时间收敛的。仿真结果表明,所提出的地形跟踪控制策略可以有效地实现地形跟踪任务,并且对于参数摄动以及外界干扰具有很强的鲁棒性。
英文摘要：
The bottom-following problem of an underactuated unmanned underwater vehicle （U U V ） is discussed with consideration of the effects of parameter perturbation and external disturbances. A bottom-following control law based on the baekstepping method and integral sliding mode control （ISMC） is presented, which eliminates parameter perturbations and external disturbances. First, the bottom-following error equations were established using the kinematic properties of the vehicle and the local Serret-Frenet Frame. Then, the kinematic control law （guidance law） and dy- namic control law were developed based on the backstepping method and ISMC. Thus, the closed-loop motion system under the proposed control law was proven to have global finite-time stability. These simulation results show that the bottom-following mission can efficiently be achieved, and there is strong robustness to the parameter perturbations and external disturbances.
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