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中文摘要：
以某机器人为研究对象,使用S（Sigmoid）面控制方法构造了速度控制器并分析了该控制器的稳定性.参考滑模变结构控制思想,提出了参数自适应S面速度控制器,使控制参数根据运动状态自适应调整.同时,为了提高S面位置控制器的适应性,改进了控制器的自适应调整项,增强了控制器消除稳态误差的能力,实现了S面控制器局部动态调整.水池中的对比实验和海洋验证实验表明,改进方法获得了良好的控制效果,有效提高了水下机器人运动控制的适应性.
英文摘要：
S（Sigmoid） plane control method is an effective and simple method for the motion control of autonomous underwater vehicle（AUV）.A velocity controller was constructed and analyzed by S plane control method.According to sliding mode controller（SMC）,an integral S plane velocity controller with self-adapting integration step was proposed in order to make control parameters adjusted by motion state.Then a self-adapting item was improved for eliminating steady-state errors and adjusting dynamically S plane controller locally.Both pool and sea experiment results show that the improved controller is effective and the adaptability of AUV motion control is strengthened largely.
同期刊论文项目
同项目期刊论文
Simultaneous Localization and Mapping of Autonomous Underwater Vehicle Using Looking Forward Sonar .
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