基于自适应神经网络滑模控制的常压潜水装具航向控制器设计  

Design of Course Controller for Atmospheric Diving Suit(ADS) Based on Sliding Mode Control with Adaptive Neural Network

作　　者：陈垦[1,2,3] 刘涛 杜新光[1] 林强[1,3] 刘双[1,3] CHEN Ken;LIU Tao;DU Xinguang;LIN Qiang;LIU Shuang(China Ship Scientific Research Center Shanghai Branch,Shanghai 200011,China;China Ship Scientific Research Center,Wuxi 214082,China;Shanghai Oriental Maritime Engineering Technology Co.,Ltd.,Shanghai 200011,China)

机构地区：[1]中国船舶科学研究中心上海分部,上海200011 [2]中国船舶科学研究中心,无锡214082 [3]上海市东方海事工程技术有限公司,上海200011

出　　处：《中国造船》2018年第1期188-196,共9页Shipbuilding of China

基　　金：国家科技重大专项(2011ZX05027-005);国家国际科技合作专项项目(2015DFR80780)

摘　　要：针对常压潜水装具的航向控制,设计了基于自适应神经网络的滑模航向控制器。详细介绍了控制器的设计过程,并利用Lyapunov稳定性判据,证明了系统存在着参数不确定性、时变项和外干扰时的稳定性。通过仿真,验证了该控制器在常压潜水装具(ADS)航向控制方面具有良好的控制性能。With concern on course control for atmospheric diving suit(ADS),an ADS course controller is proposed based on sliding mode control with adaptive neural network.Design process of the controller is described in detail,and Lyapunov's stability criterion is applied to prove the stability of the system,in which there are uncertainties of parameters,time-varying terms and external disturbances.Simulation studies show that the proposed controller has good performance in ADS course control.

关 键 词：常压潜水装具 航向控制 神经网络 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]