基于切换模糊化的滑模变结构AUV姿态控制

Slide-mode variable-structure AUV attitude control on the basis of fuzzy switching

针对自主水下航行器(AUV)控制的要求,为解决姿态控制问题,提出了一种基于切换模糊化的滑模变结构控制方法.该方法结合了模糊控制与滑模变结构的优点,其中模糊控制以变结构控制的切换函数为输入,变结构控制切换项为输出,在此基础上采用指数趋近律方法设计滑模变结构控制器.分别对该方法与传统滑模变结构控制方法进行对比仿真,结果表明,该控制方法可以有效抑制滑模变结构控制的抖振现象,对模型不确定系统具有较强的鲁棒性和一定的抗干扰能力.

According to the control requirements of the autonomous underwater vehicle （ AUV）, and in order to solve the attitude control problem, a slide-mode variable-structure control method based on fuzzy switching is pro- posed. This method combines the merits of fuzzy control and slide-mode variable-structure, in which the fuzzy control takes the switching function of the variable-structure control as the input, and the switching item of the variable- structure control as the output. On the basis of this, the exponential reaching law method is applied to the design of the slide-mode variable-structure controller. By comparison and simulation of the method and the traditional slidemode variable-structure control method, the results show that the method may effectively suppress the chattering phenomenon of the slide-mode variable-structure control, and has strong robustness and anti-jamming capability for the model uncertainty system.