论文部分内容阅读
为了解决消除或减小动态逆控制中逆误差对控制系统性能的影响,针对自主水下航行器(AUV)姿态控制系统,设计一种鲁棒动态逆控制器,利用动态逆控制方法可以直接对非线性系统实现精确线性化的特点,将AUV姿态控制系统等效成一个含有不确定性但已经解耦的线性系统,采用H_∞回路成形方法进行设计。通过数学仿真,考虑模型参数以及水动力参数不确定性的情况下,该方法在一定程度上有效地抑制了逆误差的影响,使控制系统具有较强的鲁棒性。
In order to solve the problem of eliminating or reducing the influence of the inverse error in the dynamic inverse control on the performance of the control system, a robust dynamic inverse controller is designed for the autonomous underwater vehicle (AUV) attitude control system. By using the dynamic inverse control method, The non-linear system has the characteristics of precise linearization. The AUV attitude control system is equivalent to a linear system with uncertainty but decoupled, which is designed by H_∞ loop forming method. Through mathematical simulation, taking into account the model parameters and the uncertainty of hydrodynamic parameters, this method can effectively restrain the influence of inverse error and make the control system robust.