基于预设性能制导律的欠驱动AUV海底地形鲁棒时滞跟踪控制

基于预设性能制导律的欠驱动AUV海底地形鲁棒时滞跟踪控制

李锦江, 向先波, 刘传, 杨少龙

Robust Seabed Terrain Following Control of Underactuated AUV with Prescribed Performance Guidance Law Under Time Delay of Actuator

LI Jinjiang, XIANG Xianbo, LIU Chuan, YANG Shaolong

表1 仿真对象水动力模型参数表

Tab.1 Hydrodynamic model parameter of the AUV in simulation

参数	取值
m/kg	30.48
W/N	299
B/N	306
I_yy/(N·kg·m²)	3.45
x_g/m	0
z_g/m	0.019 6
$M_{\overset{\cdot}{q}}$ /(kg·m²·rad^-1)	-4.88
$M_{\overset{\cdot}{w}}$ /(kg·m)	-1.93
M_w_\|_w_\|/kg	3.18
M_q_\|_q_\|/(kg·m²·rad^-2)	-188
M_uq/(kg·m·rad^-1)	-2
M_uw/kg	24
M_uuδ/(kg·rad^-1)	-6.15
$z_{\overset{\cdot}{w}}$ /kg	-35.5
z_w_\|_w_\|/(kg·m^-1)	-131
z_q_\|_q_\|/(kg·m²·rad^-2)	-0.632
z_uw/(kg·m^-1)	-28.6
z_uq/(kg·rad^-1)	-5.22
λ_δ/s	1.2