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基于super-twisting二阶滑模算法的作业型ROV路径跟踪控制方法

黄博伦 杨 启

黄博伦, 杨 启. 基于super-twisting二阶滑模算法的作业型ROV路径跟踪控制方法[J]. 水下无人系统学报, 2021, 29(1): 014-22. doi: 10.11993/j.issn.2096-3920.2021.01.003
引用本文: 黄博伦, 杨 启. 基于super-twisting二阶滑模算法的作业型ROV路径跟踪控制方法[J]. 水下无人系统学报, 2021, 29(1): 014-22. doi: 10.11993/j.issn.2096-3920.2021.01.003
HUANG Bo-lun, YANG Qi. Trajectory Tracking Control Method of a Work-class ROV Based on a Super-twisting Second-order Sliding Mode Controller[J]. Journal of Unmanned Undersea Systems, 2021, 29(1): 014-22. doi: 10.11993/j.issn.2096-3920.2021.01.003
Citation: HUANG Bo-lun, YANG Qi. Trajectory Tracking Control Method of a Work-class ROV Based on a Super-twisting Second-order Sliding Mode Controller[J]. Journal of Unmanned Undersea Systems, 2021, 29(1): 014-22. doi: 10.11993/j.issn.2096-3920.2021.01.003

基于super-twisting二阶滑模算法的作业型ROV路径跟踪控制方法

doi: 10.11993/j.issn.2096-3920.2021.01.003
基金项目: 国家重点研发计划项目资助(2017YFC0306704).
详细信息
    作者简介:

    黄博伦(1989-), 男, 在读博士, 主要研究方向为水下机器人控制技术.

  • 中图分类号: TJ630 TB53

Trajectory Tracking Control Method of a Work-class ROV Based on a Super-twisting Second-order Sliding Mode Controller

  • 摘要: 作业型遥控无人水下航行器(ROV)的运动存在时变外界干扰和系统不确定性, 利用常规滑模方法设计其运动控制器会产生抖振现象, 而常用的饱和函数联合边界层法(SatSMC)在消除抖振的同时无法保证控制精度。针对上述问题, 文中设计了super-twisting二阶滑模控制器(STSMC)来实现作业型ROV的空间路径跟踪。利用Lyapunov方法分析了系统的稳定性, 并证明该方法能够保证跟踪误差在有限时间内收敛。将提出的STSMC与SatSMC及比例-积分-微分法进行了仿真试验对比, 结果表明: STSMC能够使ROV完成对既定路径的跟踪, 并具有更好的鲁棒性、快速性和控制精度, 同时产生的抖振也明显小于SatSMC, 控制参数也未增加, 更适于ROV的实际使用。

     

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出版历程
  • 收稿日期:  2020-03-13
  • 修回日期:  2020-04-23
  • 刊出日期:  2021-03-01

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