摘要
针对小型航行体在复杂水流环境下航行时姿态模型具有强耦合、高度非线性和不确定性等特点,在不忽略各通道间耦合作用的条件下,提出了小型航行体鲁棒动态逆姿态控制方法.采用动态逆控制方法对航行体姿态模型进行解耦和线性化,进而由滑模变结构控制方法解决了控制系统对参数摄动和系统建模的不确定性敏感的问题,并应用李亚普诺夫理论证明了控制系统的稳定性.仿真结果表明,本文设计的鲁棒动态逆姿态控制方法不仅能够满足小型航行体的技术性能要求,且具有较强的适应性和鲁棒性.
In order to solve the problems that the attitude model of miniature underwater vehicle was strong coupling,highly nonlinear and includes uncertain parameters,a robust dynamic inversion attitude control method was proposed for miniature underwater vehicle.The attitude model of miniature underwater vehicle was decoupled and linearized by using dynamic inversion control method.And the sliding mode variable structure method was applied to slow the problem that the control system was sensitive to parameter perturbation and the uncertainty of system modeling.The stability of the control system was verified by utilizing Lyapunov theory.The simulation results show that the designed control method not only satisfies the technical performance requirements for miniature underwater vehicle,but also has strong adaptability and robustness.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2015年第12期1262-1266,共5页
Transactions of Beijing Institute of Technology
基金
北京理工大学爆炸科学与技术国家重点实验室自主研究课题(YBKT16-02)
关键词
航行体
动态逆
鲁棒控制
姿态控制
underwater vehicle
dynamic inversion
robust control
attitude control
