针对欧拉角和单位四元数在求解大角度旋转机动时表现出的奇点和解绕局限问题，本文研究自主水下航行器（Autonomous Underwater Vehicle, AUV）在六自由度下的无模型跟踪控制方案。通过构建基于旋转矩阵的动力学模型，提出将姿态误差从SO(3)空间转换为欧几里得空间。并建立了分层回声状态网络（Hierarchical Echo State, ESN）来估计水动力系数和执行器故障，辅以协同批评网络（Cooperative Critic Network, CCN）增强学习能力。在保证高跟踪性能的同时，系统鲁棒性得到显著增强。基于旋转矩阵和分层ESN的控制方案有效克服传统姿态表示局限，适合自主水下航行器大角度转动。
To address the singularities and gimbal lock limitations of Euler angles and unit quaternions in solving large-angle rotational maneuvers, this paper investigates a model-free tracking control scheme for autonomous underwater vehicles in 6-DOF. By constructing a dynamics model based on rotation matrices, this study proposes converting attitude errors from SO(3) space to Euclidean space. A hierarchical echo state network (ESN) is established to estimate hydrodynamic coefficients and actuator faults, supplemented by a cooperative critic network (CCN) to enhance learning capability. While ensuring high tracking performance, the system′s robustness is significantly enhanced. The control scheme based on rotation matrices and hierarchical ESN effectively overcomes the limitations of traditional attitude representations, making it suitable for large-angle maneuvers of autonomous underwater vehicles.
2026,48(6): 150-158 收稿日期：2025-6-6
DOI：10.3404/j.issn.1672-7649.2026.06.020
分类号：U661.33
基金项目：国家自然科学基金资助项目（52471284，52101356）；自然资源部资助项目（ZSTE-2025KB02）；连云港市科研项目资助计划（LYG06521202337，LYG065212024049）；江苏省教师培养项目；连云港市重点研发计划（CG2224）；江苏科技大学与江苏省船舶与海洋工程装备技术创新中心联合基金资助项目（2025MTIC-JUST003）
作者简介：刘葳兴(1990-),女,博士,副教授,研究方向为水下无人航行器仿生推进
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