水下航行器纵向运动的非线性自适应反演控制

张宁

doi:10.15892/j.cnki.djzdxb.2010.04.031

2010 , Vol. 30 >Issue 4: 220 - 222

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2010.04.031

摘要

针对水下航行器的纵向运动控制问题,设计了一种自适应反演控制器,保证了控制系统在动力学模型参数不确定情况下的全局渐近稳定性。为了解决水下航行器爬潜速度有界的问题,采用连续有界的atan函数设计俯仰角镇定函数,通过选择恰当的Lyapunov函数,减少深度跟踪误差造成过大的操舵输入。理论分析和仿真算例均证明了闭环控制系统的全局渐近稳定性,以及对不确定参数的自适应性。

关键词： 水下航行器; 非线性自适应反演; 参数不确定

本文引用格式

张宁 . 水下航行器纵向运动的非线性自适应反演控制[J]. 弹箭与制导学报, 2010 , 30(4) : 220 -222 . DOI: 10.15892/j.cnki.djzdxb.2010.04.031

Abstract

A globally asymptotically stable nonlinear control law for longitudinal motion of underwater vehicle was proposed using the modified adaptive inversion technique to ensure the global asymptotical stability with the presence of the parameter uncertainty. To solve the problem of hard bounded climbing or diving velocity, a bounded stabilizing function in atan form was chosen, and the Lyapunov function was properly designed to reduce the effect of the large depth track error on the rudder input. The global asymptotical stability and the adaptability to the unknown parameters were proved by theory analysis and simulation study.

Key words： underwater vehicle; nonlinear adaptive inversion; parameter uncertainty

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参考文献

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