基于滑模控制的ROV深度方向轨迹跟踪研究

Research on the Depth Direction Trajectory Tracking of ROV Controlled by Sliding Mode Variable Structure

未知海流等外界干扰,系统的不确定性信息对小型ROV深度控制造成不利影响。针对该问题,本文首先建立小型ROV深度方向运动数学模型,在理想和有干扰的情况下设计相应地滑模变结构控制器来实现水下机器人的位置轨迹的跟踪,利用李雅普洛夫定理在理论上证明了所设计的控制器是稳定的。仿真结果验证了跟踪控制系统的全局渐进稳定性,及对有界外部扰动的鲁棒性。

ROV depth control system is quite sensitive to the interference from both external and internal, like unknown currents, uncertain information from the system and so on. In order to eliminate the adverse ef-fects caused by different disturbance effectively, the research built a mathematic model about the depth direc-tion movement of the small ROV. Considering the interference as well as the correctness of the mold of con-troller which can track the position of the underwater robot, we built sliding mode controller respectively, in the ideal case and the interference case. By using Lyapunov theorems, we proved in theory designed controller was stable. After the simulation, the result has testified the global asymptotic stability of the tracking control system, and the robustness from bounded external disturbances.