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对自主式潜水器(AUV)的水动力模型进行了近似处理,利用改进的变结构滑模控制方法设计了AUV控制系统,仿真表明模型处理合理,控制系统能克服模型强耦合和严重非线性,效果好,且系统鲁棒性强。
The AUV hydrodynamic model is approximated and the AUV control system is designed with the improved variable structure sliding mode control method. The simulation shows that the model is reasonable and the control system can overcome the strong coupling and severe nonlinearity of the model, The effect is good, and the system is robust.