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本文将综合非线性系统的一种新方法——逆系统非线性补偿解耦控制方法应用于高度非线性强耦合的水下机器人的控制。当模型参数不准甚至时变情况下,针对补偿解耦合的伪线性系统设计了自校正控制器,提高了系统的鲁棒性。
In this paper, a new method of integrated nonlinear system-inverse system nonlinear compensation decoupling control method is applied to the control of highly nonlinear and strongly coupled underwater robots. When the model parameters are not or even time-varying, a self-tuning controller is designed for the pseudo-linear system with compensation and decoupling, which improves the robustness of the system.