摘要
对自主式潜水器（AUV）的水动力模型进行了近似处理，利用改进的变结构滑模控制方法设计了AUV控制系统，仿真表明模型处理合理，控制系统能克服模型强耦合和严重非线性，效果好，且系统鲁棒性强。
An appromaximate AUV hydaulicdynamic model is handled in this paper. Based onthis model,the AUV control system is designedusing the improved variable structure slidingmode control theory. The simulation results indi-cate that not only the handled model is rational,but also this control system has high robust-ness,as a result,that the strong coupling and se-rious nonlinearity in the model are overcome un-der this system.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1997年第3期69-72,共4页
China Mechanical Engineering
关键词
AUV
变结构
滑模控制
水动力模型
机器人
潜水器
autonomous underwater vehicle (AUV) variable structure sliding mode control simulation
