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自治水下机器人自适应滑膜控制
Alternative TitleAdaptive sliding mode control of an autonomous underwater vehicle
吴宝举; 李硕; 王晓辉
Department水下机器人研究室
Source Publication机械设计与制造
ISSN1001-3997
2010
Issue7Pages:142-144
Contribution Rank1
Funding Organization中国科学院创新基金(03F6060601)
Keyword自治水下机器人 离散时间 滑膜控制 自适应控制
Abstract对影响自治水下机器人控制性能的因素进行分析,提出将自适应滑模控制方法应用于水下机器人的深度控制,使其在在各种干扰的条件下仍保持稳定且具有满意的性能。采用系统辨识的方法得到系统的模型,进而通过辨识得到的模型修正滑膜控制量。引入平滑饱和函数,改善控制的暂态品质和震颤现象。仿真结果表明控制算法的有效性。
Other AbstractIt presents an adaptive sliding mode controller for an autonomous under water vehicle(AUV)in the presence of parameter uncertainties and external disturbance.This controller is a discrete time sliding mode controller based on a state space model.The proposed algorithm has a time varying slid-ing surface which is obtained by parameter estimation method.A smooth saturation function,which main-tains system having same stable condition,is used to reduce the control chatter and transient performance of system.Th...
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7464
Collection水下机器人研究室
Corresponding Author吴宝举
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
吴宝举,李硕,王晓辉. 自治水下机器人自适应滑膜控制[J]. 机械设计与制造,2010(7):142-144.
APA 吴宝举,李硕,&王晓辉.(2010).自治水下机器人自适应滑膜控制.机械设计与制造(7),142-144.
MLA 吴宝举,et al."自治水下机器人自适应滑膜控制".机械设计与制造 .7(2010):142-144.
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