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为实现欠驱动自治水下机器人(AUV)在未知海流干扰作用下的地形跟踪控制,提出一种基于非线性迭代滑模增量反馈的航迹跟踪控制器.基于虚拟向导的方法,建立AUV垂直面航迹跟踪误差方程.采用迭代方法,设计滑模增量反馈控制器,无需对AUV模型参数不确定部分和海流干扰进行估计,这样避免了AUV俯仰舵的抖振现象,并且减小了输出反馈控制的稳态误差与超调问题.仿真实验表明,所设计的控制器对AUV系统的模型参数摄动及海流干扰变化不敏感,所设计的参数易于调节.
In order to realize the topographic tracking control of under-actuated Underwater Vehicle (AUV) under unknown current disturbances, a tracking controller based on nonlinear iterative sliding mode incremental feedback is proposed.Based on the virtual guidance method, a vertical AUV Surface tracking error equation.Using an iterative method to design a sliding mode incremental feedback controller, it is not necessary to estimate the uncertainty of the AUV model parameters and the current disturbances, thus avoiding the chattering of the AUV pitch-servo and reducing the output The steady-state error and overshoot problem of feedback control are simulated.The simulation results show that the designed controller is insensitive to the model parameters perturbation and current disturbance changes of AUV system, and the designed parameters are easy to adjust.