基于逆模型的混合驱动水下滑翔机垂直面控制

Longitudinal Control for Hybrid-driven Underwater Glider Based on Inverse System

摘要:

混合驱动水下滑翔机（Hybrid-driven underwater gliders ，简称HDUGs)是集无人自治水下机器人（Automomous Underwater Vehicles ，简称 AUVs）和水下滑翔机（Autonomous Underwater Gliders,简称 AUGs）于一体的新型水下机器人。由于HDUGs是非线性、强耦合，且受到海流、结构不确定等因素的影响，为了克服这些问题，针对混合驱动水下机器人工作在混合模式下，对其垂直面提出了一种基于逆模型和滑模控制的非线性控制方法，该方法将原始系统解耦为两个单入单出的线性系统，仿真结果证明了该方法具有良好的控制性能，而且对外界扰动具有一定的鲁棒性。

Abstract:

Hybrid-driven underwater gliders (HDUGs) is a new type of underwater robot which is a combine of the autonomous underwater vehicles (AUVs) and autonomous underwater gliders (AUGs). Hybrid-driven underwater robot is nonlinear, strong coupling, influenced by the ocean currents and its structure of dynamic model is uncertain. To confront with these problems, a nonlinear control method based on the inverse system and sliding mode control was used for the hybrid-driven mode, which decouple the original system into two independent single input and single output linear subsystems. Simulation results show that this method not only has a good control performance, but also be robust with the external disturbance .