摘要
研究一种利用自适应模糊滑模控制原理来制定无人两栖平台航向跟踪控制律的方法。首先建立无人两栖平台的操纵响应方程,并借助微分同胚变换将其转换为单输入单输出的非线性系统,然后基于自适应模糊滑模控制原理设计了航向跟踪控制器,并借助Lyapunov稳定性分析方法,理论分析证明了所得闭环系统全局一致稳定。最后以某无人两栖平台为例,进行了航向跟踪控制的仿真,结果表明控制器对系统参数摄动及外界干扰不敏感,具有较强的鲁棒性。
Motivated by adaptive fuzzy sliding mode control method, a new course tracking method of unmanned amphibious platform is proposed in this paper. Firstly, the platform＇ s manipulating response function is established, and then the function is transformed to SISO system based on diffeomorphism. Secondly, course tracking method is established based on adaptive fuzzy sliding mode control method, and its global stability is testified theoretically com- bined with Lyapunov method. In the end, simulation is carried out based on an unmanned amphibious platform, and the result illustrates that the approach is stable to disturbances and uncertainties.
出处
《计算机仿真》
CSCD
北大核心
2016年第1期8-11,共4页
Computer Simulation
基金
军内计划项目(2014ZB01)
关键词
航向跟踪
无人两栖平台
自适应模糊滑模控制
Course tracking
Unmanned amphibious platform
Adaptive fuzzy sliding mode control
