摘要
研究了自主水下机器人的水平面轨迹跟踪控制问题;为了消除变结构控制的颤振现象,在传统滑模变结构控制理论的基础上,采用了滑模变结构控制滤波的方法,设计了具有全局渐近稳定的滑模轨迹跟踪控制器;实验中,滤波器的参数为4,在低通截止频率是0.637Hz的作用下有效地解决了控制力的高频振颤问题;仿真结果表明,该控制器能保证轨迹跟踪误差的快速收敛性及对外界干扰的鲁棒性,证实了理论分析的正确性。
In this paper, the problem of horizontal trajectory tracking control of autonomous underwater vehicle is addressed. According to sliding mode filtering method, the global asymptotic stability of trajectory tracking sliding mode controller has been designed for the elimination of the chattering problem of the traditional sliding mode control. In this experiment , filter parameter value is 4. the low pass cutoff frequency is 0. 637 Hz. This simulation results show the controller can guarantee the fast convergence of trajectory tracking error as well as the robustness of external disturbances, and solve the high frequency chattering problem of control effectively. In addition, the validity of theoretic analysis results has been proved.
出处
《计算机测量与控制》
北大核心
2013年第2期382-385,共4页
Computer Measurement &Control
基金
国家863项目资助(2011AA09A174)
关键词
滤波器
滑模变结构控制
轨迹跟踪控制
水下机器人
filter
sliding mode control
trajectory tracking control
autonomous underwater vehicle
