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为实现外界干扰作用下水下机器人(AUV)的三维航迹跟踪控制,提出基于动态面和L2干扰抑制的控制方法.该方法基于李雅普诺夫稳定性分析理论,对严格反馈系统中的非线性系统进行控制设计,采用动态面控制方法有效避免了用后推方法产生的“计算爆炸”问题,并用L2干扰抑制控制器将外界干扰予以抑制.针对某水下机器人模型,利用Matlab进行数值仿真,结果表明,该控制器对外界干扰有较好的抑制作用,可以实现水下机器人三维航迹的精确跟踪控制.
In order to realize the three-dimensional tracking control of underwater vehicle (AUV) under external disturbance, a control method based on dynamic surface and L2 interference suppression is proposed. This method is based on the Lyapunov stability analysis theory, The design of control and dynamic surface control method can effectively avoid the “explosion problem” generated by the post-push method, and the external disturbance is suppressed by the L2 interference suppression controller.A numerical simulation is carried out by using Matlab for a underwater robot model The results show that this controller can restrain the external disturbances well, and it can realize the precise tracking control of underwater robot’s 3-D trajectory.