为解决欠驱动AUV轨迹跟踪中系统收敛速度慢、易发散、模型不确定等问题, 提出了一种有限时间和降阶状态观测器双环闭合的运动控制策略。根据时间尺度原理分为位置控制环和姿态控制环, 位置控制环使用有限时间控制方法来加快位置量的收敛速度; 姿态控制环采用基于降阶扩张状态观测器的动态积分滑模来实现对姿态角的快速收敛和补偿混合不确定项。在三维仿真环境下模拟AUV轨迹跟踪的控制效果, 通过仿真结果可看出: 所设计的控制器在收敛速度、控制精度、鲁棒性及跟踪效果方面均高于常见的轨迹跟踪器, 能较好地满足欠驱动AUV的轨迹跟踪控制需要。

In order to solve the problems of slow convergence speed,easy divergence and uncertain model in under-driven AUV trajectory tracking,a dual closed-loop control strategy based on finite-time and reduced-order state observer is proposed.According to the principle of time scale,it is divided into position control loop and attitude control loop.The position control loop adopts finite time control method to speed up the convergence of position quantity.The attitude control loop adopts dynamic integral sliding mode based on the reduced-order extended state observer to quickly converge the attitude angle and compensate for the mixed uncertainties.The control effect of AUV trajectory tracking is simulated in 3D simulation environment.The simulation results show that the convergence speed,control accuracy,robustness and tracking effect of the proposed controller are higher than those of conventional trajectory trackers,and it can better meet the trajectory tracking control needs of under-driven AUV.