| 无人水下航行器滑模变结构控制研究进展 |
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| 引用本文： | 沈建森,周徐昌,赵江.无人水下航行器滑模变结构控制研究进展[J].舰船科学技术,2011,33(10). |
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| 作者姓名： | 沈建森 周徐昌 赵江 |
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| 作者单位： | 1. 海军工程大学兵器工程系,湖北武汉,430033
2. 海军装备研究院,北京,100161 |
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| 摘 要： | 运动控制是无人水下航行器发展的关键技术之一。滑模控制作为1种重要的无人水下航行器控制策略受到国内外学者的广泛关注,取得了丰富的研究成果。本文简要介绍了无人水下航行器运动控制的特点和滑模控制的基本原理,并着重对无人水下航行器滑模控制以及滑模控制和自适应控制、模糊控制的结合进行了论述。
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| 关 键 词： | 无人水下航行器 滑模控制 自适应 模糊逻辑 |
Development and current research of unmanned underwater vehicles sliding mode control technology |
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| SHEN Jian-sen,ZHOU Xu-chang,ZHAO Jiang.Development and current research of unmanned underwater vehicles sliding mode control technology[J].Ship Science and Technology,2011,33(10). |
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| Authors: | SHEN Jian-sen ZHOU Xu-chang ZHAO Jiang |
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| Institution: | SHEN Jian-sen1,ZHOU Xu-chang1,ZHAO Jiang2(1.Department of Weapon Engineering,Naval University of Engineering,Wuhan 430033,China,2.Naval Academy of Armament,Beijing 100161,China) |
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| Abstract: | Motion control is one of the critical techniques for the development of unmanned underwater vehicles.Sliding mode control plays an important part in the various UUV motion control schemes,and great developments have been made in the last decades.In the paper,the characteristic of UUV motion control and theory of sliding mode control are introduced.The application of sliding mode control and the hybrid control schemes combining sliding monde control with adaptive control,fuzzy logic control are discussed in ... |
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| Keywords: | unmanned underwater vehicles sliding mode control adaptive fuzzy logic |
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