摘要
研究了鲁棒H∞控制在自治水下机器人(AUV)深度控制中的应用。根据刚体空间运动和流体力学理论建立了AUV垂直面运动的数学模型。并在特定的工作点对模型进行了线性化处理得到了AUV垂直面运动的控制设计模型。根据鲁棒H∞控制理论设计了自治水下机器人垂直面运动的深度控制器。仿真结果表明,该控制器在减轻/克服AUV运动模型的不确定性,严重的非线性和外界干扰等方面有明显的效果,具有很好的动态性能,系统的鲁棒性强。
A motion control strategy for an autonomous underwater vehicle （AUV） depth control in vertical plane based on a robust H∞ controller was proposed. The system mathematical model of AUV motion in vertical plane was established, and was linearized on a specified operating point. A robust H∞ controller was designed based on robust H∞ control theory. The simulation results show that the proposed robust H∞ controller is effective to alleviate or eliminate the effects of modeling uncertainty, severe non - linear dynamics and some disturbances. The system presents good performances and the robustness of the system is good enough,
出处
《计算机仿真》
CSCD
2007年第3期156-159,共4页
Computer Simulation
关键词
自治水下机器人
鲁棒H∞
控制
运动控制
深度控制
Autonomous underwater vehicles（AUV）
Robust H∞ control
Motion control
Depth control
