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基于LMI的无人水下航行器干扰补偿控制

赵 旭 龚时华 杨 进

赵 旭, 龚时华, 杨 进. 基于LMI的无人水下航行器干扰补偿控制[J]. 水下无人系统学报, 2020, 28(3): 271-277. doi: 10.11993/j.issn.2096-3920.2020.03.005
引用本文: 赵 旭, 龚时华, 杨 进. 基于LMI的无人水下航行器干扰补偿控制[J]. 水下无人系统学报, 2020, 28(3): 271-277. doi: 10.11993/j.issn.2096-3920.2020.03.005
ZHAO Xu, GONG Shi-hua, YANG Jin. Disturbance Compensation Control for Unmanned Undersea Vehicle Based on LMI[J]. Journal of Unmanned Undersea Systems, 2020, 28(3): 271-277. doi: 10.11993/j.issn.2096-3920.2020.03.005
Citation: ZHAO Xu, GONG Shi-hua, YANG Jin. Disturbance Compensation Control for Unmanned Undersea Vehicle Based on LMI[J]. Journal of Unmanned Undersea Systems, 2020, 28(3): 271-277. doi: 10.11993/j.issn.2096-3920.2020.03.005

基于LMI的无人水下航行器干扰补偿控制

doi: 10.11993/j.issn.2096-3920.2020.03.005
详细信息
    作者简介:

    赵 旭(1992-), 男, 硕士, 主要从事水下航行器控制与故障诊断技术研究.

  • 中图分类号: TJ630.33 TP13

Disturbance Compensation Control for Unmanned Undersea Vehicle Based on LMI

  • 摘要: 针对无人水下航行器(UUV)航行时外界干扰复杂, 水动力导数计算不精确, 舵角受限以及存在非线性动态的问题, 提出了一种利用未知输入观测器对其未建模动态进行观测, 并依据李亚普诺夫函数设计干扰补偿控制律的方法, 同时考虑舵角饱和约束并将控制律设计过程转化为线性矩阵不等式最优化问题, 实现了对未知扰动的实时观测与补偿。将其应用到大型UUV航向航深控制上, 仿真结果表明, 该方法对未知输入具有很强的补偿能力, 提高了控制精度, 有效减少了控制律设计对水动力导数的依赖度, 改善了未知干扰作用下舵角的振荡特性。

     

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    Pan Guang, Song Bao-wei, Huang Qiao-gao, et al. Development and Key Techniques of Unmanned Undersea System[J]. Journal of Unmanned Undersea Systems, 2017, 25(1): 44-51.
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    [12] Zhou M, Shen Y, Wang Q. Robust UIO-based Fault Esti-mation for Sampled-data Systems: an LMI Ap-proach[C]//2013 IEEE International Conference on Information and Automation (ICIA). Yinchuan, China: IEEE, 2013: 1308-1313.
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出版历程
  • 收稿日期:  2019-03-01
  • 修回日期:  2019-05-31
  • 刊出日期:  2020-06-30

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