论文部分内容阅读
针对外界扰动的无人水下航行器航迹跟踪控制问题,通过定义一个动态滑模面,结合Lyapunov稳定性理论,设计航迹跟踪滑模控制器.考虑到系统中存在的未建模动态,在保证不引入模型参数的前提下,采用模糊神经网络在线逼近理想滑模控制律,并根据Lyapunov稳定性理论及投影算法得出模糊神经网络的参数自适应律.理论分析证明闭环控制系统的一致渐近稳定性、所有变量的有界性及跟踪误差及其导数渐近趋向于零.仿真实验验证了所提控制策略的有效性.
In order to solve the problem of trajectory tracking control of unmanned underwater vehicle with disturbance, a trajectory tracking sliding mode controller is designed by defining a dynamic sliding mode and Lyapunov stability theory. Considering the unmodeled dynamics in the system, On the premise of not introducing the model parameters, the fuzzy neural network is used to approach the ideal sliding mode control law online, and the parameter adaptive law of the fuzzy neural network is obtained according to Lyapunov stability theory and projection algorithm. The theoretical analysis proves that the closed-loop control system is consistent Asymptotic stability, boundedness of all the variables, tracking error and their derivative asymptotically tend to zero.The simulation results show the effectiveness of the proposed control strategy.