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基于高阶滑模控制器的水下潜器运动控制
引用本文:邓春楠,葛彤,吴超.基于高阶滑模控制器的水下潜器运动控制[J].海洋工程,2013,31(6):53-58.
作者姓名:邓春楠  葛彤  吴超
作者单位:上海交通大学 船舶海洋与建筑工程学院 水下工程研究所,上海 200240;上海交通大学 船舶海洋与建筑工程学院 水下工程研究所,上海 200240;上海交通大学 船舶海洋与建筑工程学院 水下工程研究所,上海 200240
基金项目:国际海底区域研究开发“十一五”项目 (DYXM-115-03-09-05);海洋工程国家重点实验室自主研究课题(GKZD010060);国家自然科学基金资助项目(51109132);教育部高等学校博士学科点专项科研基金(20110073120015)
摘    要:水下环境复杂多变,由于水流的不可预知性和多变性,潜器的水动力系数往往无法准确获取,使得依赖这种参数的潜器运动控制算法的应用受到了很大的局限。为了解决控制器对模型参数的依赖,设计了一种基于高阶滑模控制算法的模型无关控制器,并通过设置合理的过渡过程,解决了这种控制算法依赖初值的弊端。仿真结果表明,位置和姿态的控制能够快速的收敛,误差很小并且不依赖于初始条件,控制器需调节参数很少,并且算法简单,适用于工程的实际需要。

关 键 词:高阶滑模控制器  模型无关  过渡过程  水下潜器  运动控制

Underwater vehicle motion control based on high order sliding controller
DENG Chun-nan,GE TongWU Chao and WU Chao.Underwater vehicle motion control based on high order sliding controller[J].Ocean Engineering,2013,31(6):53-58.
Authors:DENG Chun-nan  GE TongWU Chao and WU Chao
Abstract:Underwater environment is highly dynamic, presenting significant disturbances to the vehicle in the form of underwater currents.Additionally, the main difficulties associated with underwater control are the parametric uncertainties. The model based controller needs precise hydrodynamic coeffcients, but in practice it is very hard or impossible.In order to avoid this problem, a model free high order sliding mode controller is proposed, and a reasonable transient process is designed to make the controller have a good performance for any initial error condition.Performance of the proposed controller is verified using numerical simulations, and is implemented in a four freedom nonlinear underwater vehicle model. Simulation results show that exponential convergence of position and attitude is fast and that overshooting is very small for any initial condition.And the controller proposed needs few parameters to adjust. Algorithm is very easy to meet the engineering needs.
Keywords:high order sliding controller  model-free  transient process  underwater vehicle  motion control
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