倾斜转弯无人水下航行器H_∞鲁棒控制策略

Bank-to-turn unmanned-underwater-vehicle autopilot design based on H_∞ control theory

针对倾斜转弯无人水下航行器的控制系统是横滚、俯仰、偏航三通道强耦合非线性系统这一特点,首先建立了三通道控制问题加权性能结构模型,并研究了权函数的选取;然后,设计了H∞鲁棒控制器,并进行降阶处理;最后,进行了仿真验证。仿真验证表明:该设计方法能有效克服各通道的交叉耦合作用,可以满足倾斜转弯无人水下航行器的控制设计要求。

Aiming at the bank-to-turn（BTT）unmanned underwater vehicle（UUV）control system characterized by nonlinearity and strong coupling of pitch channel,yaw channel and roll channel,this paper proposes a method for designing aH∞ robust controller.First,a block diagram of weighted performance for three control channels is presented and the weighting function is discussed.Second,the H∞ robust controller is designed and the order is reduced.Lastly,the H∞robust controller is verified by computer simulation.The result shows that the controller can efficaciously overcome the cross coupling effect produced by different control channels and that the method can meet the design requirements for the BTT UUV control system.