摘要
针对自主式水下机器人的控制特点,建立了机器人的动力学数学模型。利用运动解耦的方法完成了水下机器人完备控制量的构建。在滑模变结构控制理论的基础上,设计了水下机器人的分布式滑模控制系统,并在Simulink下完成滑模控制器的建模。预先设定了仿真过程中机器人的运动轨迹跟踪,结果表明,滑模控制能有效地控制AUV的航向,对外部扰动具有较强的鲁棒性。
According to the characteristics of autonomous underwater vehicle（AUV） control system,the mathematic model of dynamics was established.The completely-controlled variable of AUV was constructed with the motion decoupling method.Based on sliding mode control theory,a distributed AUV motion control system was designed.A model of sliding mode controller was set up under the Simulink circumstance.The motion trajectory tracking of the vehicle was set in advance.The computer simulation demonstrates that the sliding mode controller can control the course of AUV effectively,and has a strong robustness against some external disturbances.
出处
《现代电子技术》
2012年第20期117-120,共4页
Modern Electronics Technique
基金
国家自然科学基金(41176076)
山东省科技攻关计划(2008GG1055011)
关键词
自主式水下机器人
滑模变结构
运动解耦
分布式控制
航向
autonomous underwater vehicle
sliding mode control structure
motion decoupling
distributed control
course
