本文提出在构建模糊水下无人航行器运动学模型的前提下，设计一款基于时变干扰观测器的连续滑模控制器。干扰观测器把系统误差及外界干扰等效到控制端，连续滑模控制器通过切换控制量使系统趋于平衡点。该控制器可快速响应，且对于模型参数变化及外界干扰不敏感，具有较强的鲁棒性。此外，将直线、正弦波及自定义曲线设置为预定航向，通过Matlab/Simulink进行仿真验证水下无人航行器是否可以实现在复杂水域下的轨迹跟踪，达到航向控制目的。
This paper proposes to design a continuous sliding mode controller based on a time-varying disturbance observer under the premise of constructing a fuzzy submersible kinematic model. The disturbance observer equates the system error and external disturbance to the control side, and the continuous sliding mode controller converges the system to the equilibrium point by switching the control quantity. The controller can respond quickly and is insensitive to model parameter changes and external disturbances, and has strong robustness. In addition, straight line, sinusoidal wave and custom curve are set as the predetermined heading, and the simulation is carried out by Matlab/Simulink to verify whether the submersible can achieve the trajectory tracking in complex waters and achieve the heading control purpose.
2023,45(12): 63-68 收稿日期：2022-08-12
DOI：10.3404/j.issn.1672-7619.2023.12.012
分类号：TP13
基金项目：国家自然科学基金资助项目（62001428）；山西省重点研发计划（2021020101010）；山西省回国留学人员科研资助项目（2022-144）
作者简介：杨晨宇(1998-),女,硕士研究生,研究方向为水下无人航行器自主控制。
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