基于混合灵敏度的水下机器人鲁棒控制研究

为了使水下机器人(AUV,autonomous underwater vehicle)在多环节不确定条件下满足水下作业时动力定位的控制精度要求,深入研究了混合灵敏度鲁棒控制中各加权函数的选取原则后,设计了基于混合灵敏度的 AUV 鲁棒控制器。通过 AUV 半物理仿真平台上的动力定位试验和控制算法对比试验,证明了所设计的鲁棒控制器对于水下机器人系统的外界扰动和参数变化不确定性具有良好的抑制作用,控制效果令人鼓舞。

In order to fulfill high accurately control of AUV dynamic positioning on the condition of multiple uncertainties,the principle of each weight function wa deeply researched.Based on the mixed sensitive the- ory,a robust controller was designed for deep sea AUV.Dynamic positioning test and comparison test be- tween difference control algorism were carried out on the semi-physical simulation platform.The results showed that the controller designed took effect on the disturbance and parameter changing of AUV.

中科院先进制造基地创新课题基金(F990406)资助项目