考虑输入受限的水下滑翔机前馈控制设计

自主式水下滑翔机是一类浮力驱动的无人装备，其控制系统对滑翔机的功能实现至关重要。考虑控制输入受限，以具有不稳定内部动态的水下滑翔机动力学系统为对象，构造前馈控制算法。这种前馈控制方法将有限时间间隔内的转换控制任务视为两点边界值问题，并将输入受限直接并入两点边界值问题中求解。仿真结果表明，在输入受限的情况下，所设计的控制系统能对水下滑翔机进行有效控制，为不稳定的内部动态求出有界的、因果的解。在控制输入无约束和控制输入受限的情况下，各状态变量的变化趋势相同，只是控制过程中各状态变量的幅度变化有所差异。

Feedforward Control Design for Autonomous Underwater Gliders Under Input Constraints

Autonomous underwater gliders are buoyancy-driven unmanned devices whose control systems are vital to the glider functionality. For autonomous underwater gliders with unstable internal dynamics,a feedforward controller under input constraints is presented in this paper. In this design,the finite-time transition control task is treated as a two-point boundary value problem,and the input constraints are directly incorporated into the formulation of the two-point boundary value problem. Simulation results illustrate the effectiveness of the presented control system for the autonomous underwater gliders under input constraints and also show that the proposed system can successfully lead to a causal and bounded solution for the unstable internal dynamics. In the unconstrained case and under input constraints,the trend of each state variable remains the same,while only the amplitude changes over each different state variable.