6自由度水下机器人轨迹控制仿真研究

Simulation on Trajectory Control of a 6-DOF Underwater Vehicle

本文的工作以具有6个自由度运动能力的水下机器人（潜器）运动轨迹控制为背景，分析了造成耦合的原因，然后从减小控制耦合作用的角度建立了潜器的数学模型，设计了潜器运动的滑模控制方案，并讨论了推力分配、控制受限等问题。从仿真结果看该控制方案具有良好的定位和目标跟踪能力。

The concern of this paper is focused on the motion trajectory control of a six degree of freedom (DOF) underwater vehicle. First, the reasons that result in coupling between variables are given. Then, the vehicle's model is presented in view of reducing controls' side effects. A sliding mode control law is designed for the vehicle's motion. The issues of propeller thrust distribution and control saturation are considered. Simulation results show that the strategy has nice performance of positioning and tracking ability.