摘要
混合驱动水下滑翔机(Hybrid—driven underwater gliders,HDUGs)是集无人自治水下机器人(automomous underwater ve—hicles,AUVs)和水下滑翔机(autonomous underwater gliders,AUGs)于一体的新型水下机器人;由于HDUGs是非线性、强耦合,且受到海流、结构不确定等因素的影响,为了克服这些问题,针对混合驱动水下机器人工作在混合模式下,对其垂直面提出了一种基于逆模型和滑模控制的非线性控制方法,该方法将原始系统解耦为两个单人单出的线性系统,仿真结果证明了该方法具有良好的控制性能,而且对外界扰动具有一定的鲁棒性。
Hybrid--driven underwater gliders （HDUGs） is a new type of underwater robot which is a combine of the autonomous under- water vehicles （AUVs） and autonomous underwater gliders （AUGs）. Hybrid--driven underwater robot is nonlinear, strong coupling, influ- enced by the ocean currents and its structure of dynamic model is uncertain. To confront with these problems, a nonlinear control method based on the inverse system and sliding mode control was used for the hybrid--driven mode, which decouple the original system into two in- dependent single input and single output linear subsystems. Simulation results show that this method not only has a good control perform- ance, but also be robust with the external disturbance .
出处
《计算机测量与控制》
2015年第10期3357-3360,共4页
Computer Measurement &Control
基金
国家自然科学基金(51179183)
关键词
混合驱动水下滑翔机
非线性控制
垂直面控制
逆模型
滑模控制
hybrid--driven underwater glider
nonlinear control
longitudinal control
inverse system
sliding mode control
