摘要
针对具有非最小相不稳定内部动态的水下滑翔机运动控制问题,采用基于稳定逆技术的设计方法设计了前馈控制器。水下滑翔机在有限时间内的稳态间转换过程,被视作两点边值问题。将一种新型前馈控制器设计方法拓展,应用于非线性多输入多输出水下滑翔机系统;利用两点边值条件,为前馈控制器设计了期望输出轨迹。仿真结果表明,在设计的前馈控制器作用下,滑翔机内部动态的解,不仅是有界的,而且是因果的;通过选定合适的转换时间,可以满足滑翔机系统的输入输出限制,降低对控制输入激励的需求。
In order to solve the underwater glider motion control problem with unstable nonminimum phase dynamic, a feed-forward controller was designed based on nonlinear stable-inversion technique. The presented approach treats the considered finite-time transition as a two-point boundary value problem and yields causal feed-forward trajectory, which are constant outside the transition interval. The simulation results validate that a causal and bounded solution were obtained for the internal dynamics, furthermore, the inputs and outputs could be satisfied through changing transition time.
出处
《舰船科学技术》
北大核心
2014年第4期87-92,96,共7页
Ship Science and Technology
基金
国家自然科学基金资助项目(50979058)
关键词
水下滑翔机
非线性稳定逆技术
前馈控制
运动控制
underwater glider
nonlinear stable inversion
feed-forward control
motion control
