AUV纵倾角动态面滑模自适应控制  

Adaptive Control of AUV's Pitch Angle Based on Dynamic Surface Sliding Mode

作　　者：陈巍[1] 魏延辉[1] 曾建辉[1] 贾献强 王泽鹏[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《火力与指挥控制》2016年第6期73-76,共4页Fire Control & Command Control

基　　金：国家自然科学基金(51205074);国家科学技术部国际科技合作项目(2014DFR10010);中央高校基本科研业务费项目(HEUCF041505);高等学校博士学科点专项科研基金资助项目(20112304120007)

摘　　要：对于自主水下机器人(AUV)纵倾角跟踪问题,提出一种基于动态面滑模思想的自适应控制方法。首先对自治水下机器人纵倾角运动模型进行简化,其次针对不确定外干扰的情况,设计了自适应规律,对外干扰进行估计,在此基础之上设计了动态面滑模自适应控制器,并通过李雅普诺夫稳定性理论证明了系统的稳定性,最后通过给定参数的仿真实验结果可知,所设计的控制器在系统受到不确定外干扰时,表现出良好的鲁棒性。Focusing on the issue of AUV’s pitch angle tracking,an adaptive control method based on dynamic surface control is proposed. Firstly,the simplified motion model of AUV’s pitch angle is obtained due to some assumptions,Secondly,aiming at the conditions of uncertain disturbance,an adaptive law is constructed,which is used to estimate the external disturbance,on this basis,a dynamic surface sliding mode controller with adaptive law is designed .Then the system’s stability is proved according to the principle of Lyapunov. Finally,the simulation experiment with given parameters verify that the designed controller show robustness to two kinds of uncertain disturbance.

关 键 词：自治水下机器人 纵倾角 动态面滑模 自适应控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]