摘要
基于LQG/LTR方法对水下航行器进行多变量鲁棒控制设计,解决在模型不确定及受到随机干扰情况下水下航行器的控制设计问题,使得水下航行器控制系统具有良好的鲁棒性和动态品质。对水下航行器非线性动力学模型进行仿真实验,仿真结果验证了该方法的有效性和可行性。
In this paper, the multivariable robust control of underwater vehicle based on LQG/LTR method was proposed. This LQG/LTR controller can steer the underwater vehicle under the condition of modeling error and stochastic disturbance. The underwater vehicle control system has sufficient robustness and good performance. The simulations of control system based on nonlinear dynamic model of underwater vehicle were performed and the simulation results verify the efficiency and feasibility of the method.
出处
《船海工程》
北大核心
2008年第2期142-144,共3页
Ship & Ocean Engineering
基金
国家自然科学基金资助项目(60574088
60274014)
