作业型遥控水下运载器的多变量backstepping鲁棒控制

针对作业型遥控水下运载器（ROV）存在复杂外干扰、参数不确定性以及强非线性耦合的特性，提出了作业型ROV的多变量backstepping控制方法．使用Lyapunov稳定性分析方法，证明了当存在系统参数不确定性和未知常值外干扰的情况时，系统的局部渐近稳定性．以及跟踪误差的局部渐近收敛性．针对作业型ROV在动力定位时的特点，得到了系统动力定位时的四自由度简化模型．仿真结果表明，所提出的多变量backstepping鲁棒控制器具有比常规PID控制器更好的控制品质和鲁棒性能．

Multivariable backstepping robust control for work-class remotely operated vehicle

To deal with complex disturbances, parameter uncertainties and strong nonlinear coupling in work-class remotely operated vehicles(ROVs), we propose a method for designing the multivariable backstepping robust controller. By using Lyapunov stability analysis, we prove the locally asymptotically stability of the controlled system and the locally asymptotically convergence of the tracking error, in the presence of parameter uncertainties and unknown constant disturbances. To simplify the realization of the controller, the system model is reduced to a 4-degrees of freedom(4-DOF) model by considering the characteristics of work-class ROVs in dynamic positioning. Simulation results validate that the multivariable backstepping robust controller surpasses traditional PID controller in control performances and robustness.