摘要
本文研究水下机器人的航行控制问题,水下机器人模型具有高度的非线性和强耦合,用古典的控制方法对其进行高质量的控制很难.本文将非线性系统综合的一种新方法——逆系统动态补偿解耦控制应用到水下机器人的航行控制中,并给出了理想的仿真结果.
The control of RQV's motion is studied.The model of ROV is non-linear and strong coupling, and it is very difficult to obtain satisfied control property with classical control method.A new method dealing with the problem of non-linear system control is mentioned.It is inverse system method that the original non-linear system can be decoupl-ing controlled through dynamic compensation using inverse system.The method is used in ROV's control, and the result of simulation is given.
关键词
水下机器人
逆系统
动态补偿
underwater robotics
inverse system
non-linear
decoupling
dynamic compensation
