摘要
针对高度非线性和强耦合的水下机器人模型,利用逆系统方法进行了解耦控制,对补偿后的伪线性系统设计了PI调节器和自校正控制器,不同程度地改善了控制性能,提高了系统的鲁棒性.
The control of the ROV with high non-linear and strong coupling using inverse method is studied PI regulator and self-tuning controller is designed.The response of the system is satisfactory and strong robustness is obtained.
关键词
机器人
逆系统
解耦
鲁棒性
remote operated vehicle
inverse system
decoupling
robustness
