论文部分内容阅读
针对ROV的深度控制问题,提出基于非线性干扰观测器的自适应终端滑模控制方法.详细叙述了控制器的设计过程,并利用Lyapunov稳定性判据,验证了存在模型参数不确定性和外干扰时,系统的全局渐近稳定性和跟踪误差的收敛性.仿真实验表明,所提出的控制器不仅能够很好地估计并克服外干扰和模型不确定性等因素,具有很好的鲁棒性能,而且还可以实现在任意规定时刻变深运动的快速收敛.
In order to solve the problem of deep control of ROV, an adaptive terminal sliding mode control method based on nonlinear disturbance observer is proposed. The controller design process is described in detail. Lyapunov stability criterion is used to verify the existence of model parameters uncertainty The global asymptotic stability of the system and the convergence of the tracking error when disturbed.The simulation results show that the proposed controller not only can well estimate and overcome the factors such as external interference and model uncertainty but also has good robustness Performance, but also allows rapid convergence of deeper motion at any given moment.