摘要
针对非线性欠驱动自治水下机器人(A u tonom ous underw ater veh icle,缩写为AUV),提出了一种基于非奇异终端滑模(N on-s ingu lar term ina l slid ing m ode,缩写为NTSM)控制的鲁棒路径跟踪控制方法。在跟踪控制系统中,采用的参考变量为非时间量,摆脱了时间因素的影响,有利于提高AUV在不确定环境中的跟踪能力。应用指数趋近律进行NTSM控制器设计,能保证系统状态在有限时间内到达平衡点。数值仿真结果验证了该控制律的路径跟踪效能。
A robust path following control method based upon non-singular terminal sliding mode control is proposed for the nonlinear and underactuated autonomous underwater vehicle. The path following system is based on the non-time reference and is immune to the time factor, therefore its tracking capability in the uncertain environment can be improved. The exponentially reaching law is applied to design the NTSM controller that ensures the time for any initial system state to reach the equilibrium point is finite. Numerical simulation results verify the effectiveness of the proposed control strategy.
出处
《中国造船》
EI
CSCD
北大核心
2006年第4期76-82,共7页
Shipbuilding of China
关键词
船舶
舰船工程
终端滑模控制
自治水下机器人
路径跟踪
ship engineering
terminal sliding mode control
autonomous underwater vehicle
path following
