| 基于PSO-NTSMC的UUV有限时间路径跟踪控制 |
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| 引用本文： | 于浩淼,刘承蔚,郭晨,贾兆岩.基于PSO-NTSMC的UUV有限时间路径跟踪控制[J].兵工学报,2022,43(8):1939-1946. |
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| 作者姓名： | 于浩淼 刘承蔚 郭晨 贾兆岩 |
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| 作者单位： | (1.大连海事大学 船舶电气工程学院， 辽宁 大连 116026；2.中国兵器工业集团 航空弹药研究院有限公司， 黑龙江 哈尔滨 150001) |
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| 基金项目： | 国家自然科学基金青年基金项目(51809028)；国家自然科学基金面上项目(51879027)；中国博士后科学基金面上项目(2020M670733)；辽宁省博士科研启动基金计划项目(2019-BS-022)；中央高校基础研究基金项目(3132019318) |
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| 摘 要： | 针对欠驱动水下无人航行器（UUV）的路径跟踪问题，提出一种基于粒子群优化-非奇异终端滑模（PSO-NTSMC）的路径跟踪控制策略。利用视线法和Serret-Frenet坐标系，构建直线路径跟踪制导律。引入非奇异终端滑模面，设计路径跟踪控制器，实现路径跟踪误差的镇定。通过引入粒子群优化算法优化控制器参数，获得更良好的控制性能。数值仿真结果表明：所设计的控制器能够在有限时间内精确地完成水平面直线路径跟踪任务，并且可以有效地克服恒定未知海流和模型参数摄动的影响。
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| 关 键 词： | 水下无人航行器 路径跟踪 有限时间稳定 粒子群优化 非奇异终端滑模 |
Finite-time Path-following Controller for UUV Based on PSO-NTSMC |
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| YU Haomiao,LIU Chengwei,GUO Chen,JIA Zhaoyan.Finite-time Path-following Controller for UUV Based on PSO-NTSMC[J].Acta Armamentarii,2022,43(8):1939-1946. |
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| Authors: | YU Haomiao LIU Chengwei GUO Chen JIA Zhaoyan |
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| Affiliation: | (1.College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China；2.Norinco Group Air Ammunition Research Institute Co. Ltd., Harbin 150001, Heilongjiang, China) |
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| Abstract: | For the path-following problem of underactuated unmanned underwater vehicle (UUV), the path-following control strategy is proposed based on the particle swarm optimization and nonsingular terminal sliding mode control (PSO-NTSMC) method. Firstly, the linear path-following guidance law is developed by line of sight and Serret-Frenet frame. Then, the path-following controller is designed based on the nonsingular terminal sliding mode, which can stabilize the path-following errors. Furthermore, the PSO is introduced to optimize the controller parameters in order to obtain better control performance. Finally, the numerical simulation results show that the designed controller can accurately execute the horizontal straight path following in finite time, and can effectively overcome the influence of constant unknown current and model parameter perturbations. |
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| Keywords: | unmannedunderwatervehicle pathfollowing finite-timestability particleswarmoptimization nonsingularterminalslidingmode |
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