扰动下四矢量推进器AUV“极光”的鲁棒运动控制：带推力分配优化的ESO-FAISMC优化控制

IF 5.9 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Ain Shams Engineering Journal Pub Date : 2025-09-26 DOI:10.1016/j.asej.2025.103780

Yipin Tong , Bin Huang , Yang Wang , Liming Wang , Wei Pan , Xiaoling Yan , Bi He

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引用次数: 0

摘要

针对内部模型不准确和外部环境干扰影响矢量自主水下航行器（AUV）跟踪的挑战，本文重点研究了团队开发的4矢量AUV Aurora，建立了其运动学/动力学模型。提出了一种优化的推力分配策略和一种将改进的扩展状态观测器（ESO）与模糊自适应积分滑模控制（FAISMC）相结合的控制框架：ESO减少了初始估计误差，能够准确估计扰动；后者使用模糊推理来调节增益，抑制抖振。Lyapunov分析验证了稳定性。数值仿真结果表明，与基于扩展状态观测器的积分滑模控制（ESO-ISMC）相比，ESO-FAISMC的平均误差降低了79.09%，比基于扩展状态观测器的积分滑模控制（ESO-ISMC）的平均误差降低了51.36%，均方根误差分别降低了64.54%和42.46%。所提出的ESO-FAISMC能有效抵消干扰，实现高精度跟踪、稳定运动控制。实验证实它能满足奥罗拉的水下控制需求。

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Robust motion control of four-vector-thruster AUV “Aurora” under disturbances: optimized ESO-FAISMC control with thrust allocation optimization

Against challenges from internal model inaccuracies and external environmental disturbances affecting vector Autonomous Underwater Vehicles (AUVs) tracking, this paper focuses on the team-developed 4-vector AUV Aurora, establishing its kinematic/dynamic models. It proposes an optimized thrust allocation strategy and a control framework combining improved Extended State Observer (ESO) and Fuzzy Adaptive Integral Sliding Mode Control (FAISMC): the former reduces initial estimation errors for accurate disturbance estimation; the latter uses fuzzy inference to regulate gains, suppressing chattering. Lyapunov analysis verifies stability. Numerical simulations show that ESO-FAISMC reduces average errors by 79.09% vs Integral Sliding Mode Control (ISMC) and 51.36% vs Extended State Observer based Integral Sliding Mode Control (ESO-ISMC), and root mean square errors by 64.54% and 42.46% respectively. The proposed ESO-FAISMC can effectively counteract disturbances, achieving high-precision tracking, stable motion control. Experiments confirm it meets Aurora’s underwater control needs.

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来源期刊

Ain Shams Engineering Journal Engineering-General Engineering

CiteScore

10.80

自引率

13.30%

发文量

441

审稿时长

49 weeks

期刊介绍： in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance. Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.