摘要
针对自治水下机器人(AUV)的控制特点,建立了AUV纵向运动的动力模型,采用高阶滑模非线性控制的方法,并运用计算机仿真的手段进行了验证,仿真结果显示了该系统具有良好的控制性能,有效地消除了滑模控制的抖振,对外部扰动具有较强的鲁棒性。
According to the characteristics of AUV （Autonmous Underwater Vehicle） control system,the mathematical model of depth plane is established,and then the high nonlinear sliding mode control is used.The author designs to use computer simulation to verify the design,the computer simulation demonstrated that this proposed controller was effective,and the chattering on sliding mode control can be decreased,and the system showed a better robustness under some external disturbances.
出处
《电子设计工程》
2013年第7期59-61,64,共4页
Electronic Design Engineering
