遥控潜水器轨迹跟踪自适应模糊滑模控制方法研究

Adaptive Fuzzy Sliding Mode Trajectory Tracking Control for Remotely Operated Underwater Vehicles

摘要:

针对ROV位置和姿态精确定位控制的难题,通过对ROV数学模型的分析,设计了ROV滑模控制器;系统通过模糊推理来自适应降低抖振和逼近未知的非线性函数部分,利用李亚普诺夫稳定性理论证明了该系统的收敛性和稳定性,最后利用Simulink对控制系统进行了仿真研究;仿真结果表明:该控制器能够保证轨迹跟踪误差的快速收敛性,及对外界干扰的鲁棒性,初始误差3 s收敛到零,验证了理论分析的正确性和有效性。

Abstract:

Sliding mode controller was designed for the Remotely Operated Underwater Vehicles (ROV) to solve the problem of position and attitude precise positioning control. Firstly, the ROV mathematical model is analyzed. Then, the unknown nonlinear function is estimated and chattering is reduced by adaptive fuzzy system. Thirdly, the convergence and stability of the system is proved by using Lyapunov stability theory. Simulation results show that the controller can guarantee fast convergence of tracking error , the robustness to interference, and the validity and correctness of the theoretical analysis. The initial error converges to zero in 3s.