基于改进自抗扰的自治水下机器人运动控制系统研究

Research on Motion Control System of Autonomous Underwater Vehicle Based on Improved Active Disturbance Rejection

摘要: 自治水下机器人控制系统是一个具有时变性、不确定性以及强耦合性的非线性复杂系统，很难建立起准确的数学模型。针对干扰下AUV的运动控制问题，提出了一种改进型自抗扰控制器：在使用fal函数的自抗扰控制器基础上，提出了具有更好平滑性的改进非线性函数nal，并且基于nal函数设计了改进后的扩张状态观测器和非线性状态误差反馈控制器。最后通过Matlab/Simulink对AUV的航向控制模型进行仿真。仿真结果表明，与传统的自抗扰控制器相比，改进型自抗扰控制器能够有效提高扰动的估计能力，增强系统抗干扰能力。

Abstract: Autonomous underwater vehicle is a nonlinear and complex system with time-varying, uncertain, and strong coupling characteristics, making it difficult to establish an accurate mathematical model. Aiming at the motion control problem of AUV under interference, an improved self disturbance rejection controller is proposed: based on the self disturbance rejection controller using the fal function, an improved nonlinear function nal with better smoothness is proposed, and an improved Extended State Observer and Nonlinear State Error Feedback Controller are designed based on the nal function. Finally, the heading control model of the AUV was simulated using Matlab/Simulink. The simulation results show that compared with traditional self disturbance rejection controllers, the improved self disturbance rejection controller can effectively improve the estimation ability of disturbances and enhance the system’s anti-interference ability.