关键词: 欠驱动无人水下航行器, 地形跟踪, 高度信息, 卡尔曼滤波, 反步法

Abstract: Concerning the problem of bottom-following of underactuated Unmanned Underwater Vehicle (UUV) in the condition of output of the altimeter with noisy measures, combining intrinsic characteristic for underactuated UUV, a nonlinear bottom-following control method was proposed based on backstepping theorem. First, owing to the influence of seawater temperature and salinity, a Kalman filter was applied to solve the inaccurate measuring data to improve the accuracy for altimeter information. Then, a bottom-following controller was designed by resorting to backstepping and Lyapunov-based techniques, and the asymptotic convergence of the control system was proved. Finally, simulation and sea trial were performed to verify the feasibility, and the results demonstrate that the proposed nonlinear controller including processed altimeter information can achieve precise bottom-following for underactuated UUV.

Key words: underactuated Unmanned Underwater Vehicle, bottom-following, altitude information, Kalman filter, backstepping