自主水下航行器的自适应反演变结构控制器设计

由于水下航行器是高度耦合、复杂的多输入多输出不确定性非线性系统。对水下航行器进行精确作业时的运动控制一直是其实用化过程中困扰人们的问题。将自适应反演控制技术和变结构控制策略相结合,提出了一种基于反演技术的自适应变结构控制器设计方法,实现AUV水平侧移和航向控制,并利用自主水下航行器模型进行了仿真研究。仿真结果表明,该控制方法对模型不确定性和不确定环境干扰表现出良好的鲁棒性和自适应性。

Design of Adaptive Backstepping Variable Structure Controllers for Autonomous Underwater Vehicle

Owing to the high coupled and complex nonlinear MIMO uncertain system of automatic underwater vehicles(AUV),the control of AUV in some precise operations has been puzzling us in the application of AUV.In this paper,based on combination of adaptive backstepping control technique and variable structure control scheme,we proposed an adaptive backstepping variable structure controller for autonomous underwater vehicle.The proposed approach can achieve plane side move and heading direction controlling,and reduce influence of parameter alteration and all kinds of uncertainties on autonomous underwater vehicle control system's performance and enhance the robustness and adaptability.Simulations are provided to illustrate the robustness and adaptiveness of the controller.