带有死区补偿的欠驱动AUV深度控制

由于舵桨联合操控的水下机器人舵机传动系统死区非线性的存在,严重影响了某水下机器人的深度控制效果。文章以该水下机器人为研究对象,同时考虑了其欠驱动的运动特性及外界有界干扰和模型参数摄动,设计了具有自适应补偿功能的PID控制器,利用Lyapunov稳定性理论,证明在该控制器作用下,该控制系统是全局稳定的。最后进行了仿真实验。实验结果表明该控制器具有很好的控制效果,是行之有效的。

Study on the depth control of underactuated AUV with dead-zone compensation

In the underactuated AUV Controlled by thrusters and fins, the dead-zone nonlinearity of steer-ing engine transmission system can direct influence the depth control performance. In this paper, under-ac-tuated motion characteristic external bounded disturbance and model parameter perturbation are consid-ered. A PID with self-adaptive compensation function is proposed. With the help of Lyapunov function, the control system is proved to be globally stable. The simulation results show effectiveness of this method.