摘要
建立了某水下机器人的水动力模型,采用模糊逻辑与滑模控制相结合的方法,通过模糊逻辑动态调整滑模控制器的指数趋近率的参数,有效地抑制了滑模控制中所存在的抖振现象.仿真试验和水池试验证明,该控制器能有效地消除滑模控制的抖振,对外部扰动具有较强的鲁棒性,而且具有良好的响应特性.
The hydrodynamic model of autonomous underwater vehicle is established in this article. By combining fuzzy logic with sliding-mode control and dynamically adjusting the parameters of exponential approaching rate of the sliding-mode controller with fuzzy logic, the problem of chattering in sliding-mode control is reduced effectively. The simulation tests and tank experiments are conducted to verify the good robustness and response of the controller, By using this method, the chattering on sliding modes can be decreased.
出处
《应用科技》
CAS
2006年第8期1-4,共4页
Applied Science and Technology
关键词
模糊滑模控制
水下机器人
抖振
fuzzy sliding-mode control
autonomous underwater vehicle （AUV）
chattering
