鱼雷非线性姿态系统的自适应反演控制

以鱼雷姿态角为输出量,将鱼雷非线性模型转换为输入输出动态和内部零动态两个部分.通过数值计算,确定了零动态的稳定性.对输入输出动态设计了反演控制律,将参数自适应调整与变结构控制相结合,简化了切换函数的设计.仿真结果表明,所设计的控制方法消除了模型参数扰动的影响,使鱼雷姿态角具有良好的控制效果,同时使非线性模型中的其他状态变量保持稳定.

Adaptive backstepping control of nonlinear torpedo attitude system

The nonlinear torpedo model was converted into two states,namely input-output dynamic and zero dynamic,with the attitude angle as the output.The zero dynamic stability was confirmed in calculation.Combining parameters regulation and more simple variable structure control,a backstepping design was presented in input-output dynamic state.The simulation result shows that the torpedo attitude angle can be controlled well when some parameters are unknown,and other state variables in the torpedo model are stable.