鱼雷型无人水下航行器鲁棒控制器设计

针对鱼雷型无人水下航行器航行过程中外界环境干扰复杂，航行体系统内部干扰严重的特殊问题，并同时考虑系统参数剧烈变化造成的系统不确定性，设计纵向鲁棒控制器。该控制器采用 PID控制器作为标称控制器控制标称受控对象。利用非线性状态观测器估计受控系统中的不确定性和外界环境干扰，并通过补偿控制律补偿，使整个闭环控制系统具有鲁棒性。将此方法应用于鱼雷型无人水下航行器鲁棒控制器的设计，可大大提高鱼雷型无人水下航行器航行过程中对干扰的抑制和对不确定性的适应能力，保证鱼雷型无人水下航行器在整个航行过程中的姿态稳定，以保证航行任务的完成。

Design method of robustness controller for torpedo type unmanned underwater vehicle

For special problems of torpedo type unmanned underwater vehicle including complex external environmental disturbance and serious internal system interference, taking the system parameters and system uncertainty caused dramatic changes into account, this paper proposes a robustness controller. This new controller, which is divided into nominal controller and compensate controller, uses PID controller as the nominal controller, and nonlinear state observer to estimate uncertain interference in system. The robust compensation control law is designed to strengthen the entire closed-loop control system robustness. Through designing robustness attitude controller of torpedo type unmanned underwater vehicle based on this method, the capacity resist interference and uncertainty during torpedo type unmanned underwater vehicle can be promoted, which ensures steady flight of hypersonic vehicle throughout the entire flight.