无人水下航行器横滚控制系统反演变结构设计

针对无人水下航行器横滚通道的非匹配不确定性控制问题,提出一种非线性反演设计方法,将反演过程中的虚拟控制量的导数作为不确定性项,引入自适应机制对其上界进行估计,并采用变结构控制克服系统的不确定性,利用Lyapunov理论证明系统的稳定性.结果表明,在流体动力参数摄动情况下,本文方法具有良好的鲁棒性和自适应性,满足无人水下航行器快速横滚控制的要求.

Design of Control Law for UUV Rolling Based on Backstepping Variable Structure Control Method

The adaptive backstepping sliding mode control is proposed for the motion control problem of an unmanned-underwater-vehicle（UUV）roll control system.And the virtual control as uncertainties was treated as uncertainties,the upper bound of the uncertainties was adaptively estimated and variable structure control was used to deal with the uncertainties.Using Lyapunov theorem,the stability of the roll control system was proved.Simulation results show the good dynamic characteristics and robustness of the proposed scheme.