摘要
对影响自治水下机器人控制性能的因素进行分析,提出将自适应滑模控制方法应用于水下机器人的深度控制,使其在在各种干扰的条件下仍保持稳定且具有满意的性能。采用系统辨识的方法得到系统的模型,进而通过辨识得到的模型修正滑膜控制量。引入平滑饱和函数,改善控制的暂态品质和震颤现象。仿真结果表明控制算法的有效性。
It presents an adaptive sliding mode controller for an autonomous under water vehicle（AUV）in the presence of parameter uncertainties and external disturbance.This controller is a discrete time sliding mode controller based on a state space model.The proposed algorithm has a time varying slid-ing surface which is obtained by parameter estimation method.A smooth saturation function,which main-tains system having same stable condition,is used to reduce the control chatter and transient performance of system.The presented algorithms have been applied to the problem of depth control of an AUV.Result-ing performances have been tested by simulation.
出处
《机械设计与制造》
北大核心
2010年第7期142-144,共3页
Machinery Design & Manufacture
基金
中国科学院创新基金(03F6060601)
