摘要
介绍新型随控布局潜器的概念，给出了潜器的运动方程，并结合潜器的具体结构及变结构控制理论的优点，设计了潜器的控制系统。
In order to meet the requirement for having a simple controller which performs satisfactorily in the presence of dynamical uncertainties,a variable structure controller is designed for six-degree of freedom control,which also can compensate the influence of speed,steering,modeling nonlinearity,uncertainty,and disturbances.Numerical simulations using a full set of nonlinear equations of motion show the effectiveness of the proposed techniques.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
1997年第2期58-65,共8页
Journal of Harbin Engineering University
