滑动模态控制在无人潜水器运动控制中已经得到较多应用，但其引发的抖振现象仍未很好解决。本文对潜水器的高度控制进行研究，提出一种变增益滑动模态控制方法，旨在保持控制精度的同时抑制抖振现象。此外，还设计了基于高度传感器测量值的非线性状态观测器，以得到高更新率和可靠性的高度及垂荡速度反馈信息，从而改善高度控制系统的控制品质。水池实验验证了本文方法的有效性。
Despite some successful applications of sliding mode control (SMC) in motion control of underwater vehicles, the chattering phenomenon of SMC is undesirable for control engineers and remain unresolved. A gain switching SMC which adjusts the output gain of the controller adaptively to suppress chattering is proposed in this paper. Moreover, to implement the state-feedback based scheme in altitude control of a remotely operated vehicle (ROV), a nonlinear state observer is adopted, which estimates the precise altitude and vertical velocity of ROV with higher update rate and reliability. The proposed approach is verified by tank tests.
2019,41(8): 59-63 收稿日期：2017-12-12
DOI：10.3404/j.issn.1672-7649.2019.08.012
分类号：TP273
基金项目：国家发改委海洋工程装备研发和产业化专项资助
作者简介：庄鹏(1993-),男,硕士研究生,研究方向为潜水器运动控制
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