基于变增益滑动模态的无人潜水器高度控制

Gain switching SMC-based altitude control of remotely operated vehicles

滑动模态控制在无人潜水器运动控制中已经得到较多应用,但其引发的抖振现象仍未很好解决。本文对潜水器的高度控制进行研究,提出一种变增益滑动模态控制方法,旨在保持控制精度的同时抑制抖振现象。此外,还设计了基于高度传感器测量值的非线性状态观测器,以得到高更新率和可靠性的高度及垂荡速度反馈信息,从而改善高度控制系统的控制品质。水池实验验证了本文方法的有效性。

Despite some successful applications of sliding mode control(SMC)in motion control of underwater vehicles,the chattering phenomenon of SMC is undesirable for control engineers and remain unresolved.A gain switching SMC which adjusts the output gain of the controller adaptively to suppress chattering is proposed in this paper.Moreover,to implement the state-feedback based scheme in altitude control of a remotely operated vehicle(ROV),a nonlinear state observer is adopted,which estimates the precise altitude and vertical velocity of ROV with higher update rate and reliability.The proposed approach is verified by tank tests.