| NTSM控制的AUV路径跟踪控制研究 |
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| 引用本文： | 马岭,崔维成.NTSM控制的AUV路径跟踪控制研究[J].中国造船,2006,47(4):76-82. |
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| 作者姓名： | 马岭 崔维成 |
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| 作者单位： | 1. 上海交通大学船舶海洋与建筑工程学院,上海,200030
2. 中国船舶科学研究中心,江苏,无锡,214082 |
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| 摘 要： | 针对非线性欠驱动自治水下机器人（Autonomous underwater vehicle，缩写为AUV），提出了一种基于非奇异终端滑模（Non—singular terminal sliding mode，缩写为NTSM）控制的鲁棒路径跟踪控制方法。在跟踪控制系统中，采用的参考变量为非时间量，摆脱了时间因素的影响，有利于提高AUV在不确定环境中的跟踪能力。应用指数趋近律进行NTSM控制器设计，能保证系统状态在有限时间内到达平衡点。数值仿真结果验证了该控制律的路径跟踪效能。
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| 关 键 词： | 船舶、舰船工程 终端滑模控制 自治水下机器人 路径跟踪 |
| 文章编号： | 1000-4882(2006)04-0076-07 |
| 收稿时间： | 04 19 2005 12:00AM |
| 修稿时间： | 04 18 2006 12:00AM |
Path Following Control Study of An Autonomous Underwater Vehicle Controlled by Non-singular Terminal Sliding Mode |
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| MA Ling,CUI Wei-cheng.Path Following Control Study of An Autonomous Underwater Vehicle Controlled by Non-singular Terminal Sliding Mode[J].Shipbuilding of China,2006,47(4):76-82. |
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| Authors: | MA Ling CUI Wei-cheng |
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| Institution: | 1. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200030, China; 2. China Ship Scientific Research Center, Wuxi Jiangsu 214082, China |
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| Abstract: | A robust path following control method based upon non-singular terminal sliding mode control is proposed for the nonlinear and underactuated autonomous underwater vehicle. The path following system is based on the non-time reference and is immune to the time factor, therefore its tracking capability in the uncertain environment can be improved. The exponentially reaching law is applied to design the NTSM controller that ensures the time for any initial system state to reach the equilibrium point is finite. Numerical simulation results verify the effectiveness of the proposed control strategy. |
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| Keywords: | ship engineering terminal sliding mode control autonomous underwater vehicle path following |
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