水下机器人H_∞控制系统设计  

Design of H_∞ control system for Autonomous Underwater Vehicles

作　　者：刘旌扬[1] 冯正平[1] 易宏[1] 朱继懋[1] 

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200030

出　　处：《海洋工程》2008年第3期70-77,共8页The Ocean Engineering

基　　金：国家863基金资助项目(2006AA09Z233)

摘　　要：对水下机器人(AUV)基于混合灵敏度的H∞控制设计中的权函数选取方法进行探讨,并就频域分析给出一种公式化方法,解释其物理意义。此方法可依据控制对象的频率特性,简单的确定其权函数。AUV运动控制器的设计实例表明,按此方法选取权函数设计得到的控制器可以对跟踪性能、鲁棒稳定性、干扰及模型摄动抑制等设计指标进行折衷。This paper presents a formulated weighting function design method in mixed-sensitivity H∞, control system design. In this method, weighting functions can be readily determined from the analysis of AUV＇s control objectives, The physical meaning of the synthesis is also interpreted. To assess the effectiveness of,the approach, an H∞ controller is designed for a small AUV - SubZero based on this method. The simulation results show that the controller can make a good trade-off between multi-objectives.

关 键 词：水下机器人 H∞鲁棒控制 混合灵敏度 权函数选取 

分 类 号：P754.3[天文地球—海洋科学]