摘要
为满足无人水下航行器(UUV)快速机动的需求,将倾斜转弯(BTT)技术应用于其自动驾驶仪设计.由于航行器运动过程中存在通道间耦合以及外界干扰,故可将系统表示成具有非匹配不确定性的关联大系统形式.根据变结构局部模型跟踪原理和参考模型设计方法,利用左特征向量和Lyapunov稳定性理论设计切换函数及变结构控制系统.对所设计的系统进行仿真验证,结果表明该控制系统对系统关键状态具有较好的稳态跟踪性能,满足倾斜转弯UUV机动要求,且结构简单易于工程实现.
A novel design of autopilot based on bank-to-turn （BTT） is proposed to improve unmanned underwater vehicles maneuverability （UUV）. Because of the existing of coupling and uncertainties, the system can be expressed as an interconnected large scale system model. Based on reference model design method, partial model following control and Lyapunov stability function, the switch surface is chosen by left eigenvalue and the variable structure controller is designed. The designed system was simulated, and the results show that the control system has perfect tracking capability and guarantees the stability, and the control law is straightforward and can be easily realized.
出处
《武汉理工大学学报（交通科学与工程版）》
2013年第2期339-342,347,共5页
Journal of Wuhan University of Technology（Transportation Science & Engineering）
基金
国家部委预研项目资助(批准号:513040302)
关键词
无人水下航行器
倾斜转弯
变结构控制
局部模型跟踪控制
参考模型
unmanned underwater vehicles
bank-to-turn
variable structure control
partial model fol- lowing control
reference model
