发表机构
University of Genoa（热那亚大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对鱼雷型欠驱动AUV在未知海流中的三维轨迹跟踪问题，开发观测器辅助控制架构及三阶段观测器，结合LPV - $H_\infty$校正层等方法，经仿真实现海流估计、残差及跟踪误差的大幅降低。
AI 中文摘要
本文针对具有非最小相位横荡/垂荡动力学的鱼雷型欠驱动自主水下航行器在未知海流中的三维轨迹跟踪，开发了一种观测器辅助控制架构。一个三阶段状态 - 电流观测器为非线性前馈项提供相对速度估计，用于主导海流抑制，并为LMI认证的LPV - $H_\infty$校正层提供估计。反馈线性化消除产生恒定输入矩阵，实现无成对交叉项的凸综合。通过REMUS在三条轨迹和四种海流场景下的仿真表明，海流估计减少89 - 96%，平移残差减少约99%，RMS跟踪误差从4.04 m降至0.24 m。
英文摘要
This paper develops an observer-assisted control architecture for 3D trajectory tracking of torpedo-type underactuated AUVs with non-minimum-phase sway/heave dynamics under unknown ocean currents. A three-stage state-current observer provides relative-velocity estimates to a nonlinear feedforward term for dominant current rejection and to an LMI-certified LPV-$\mathcal{H}_\infty$ correction layer. Feedback-linearising cancellation yields a constant input matrix, enabling convex synthesis without pairwise cross terms. A residual-level break-even law shows that the effective surge disturbance depends on current-estimation error, while a singular-perturbation analysis proves local practical uniform ultimate boundedness on the embedded LPV model. REMUS simulations over three trajectories and four current scenarios show 89-96% current-estimation reduction, about 99% translational residual reduction, and RMS tracking-error reduction from 4.04 m to 0.24 m.
Comments31 pages, 15 figures;
