滑动控制理论在海洋机器人动态定位系统中的应用

本文论述了一种新的鲁棒性控制方法——滑动控制理论.并将该方法应用于海洋机器人的动态定位系统设计.仿真结果表明该方法是相当成功和有效的,对系统的参数变化有强鲁棒性.

This paper introduces a newly developed robust control method——sliding control theory and presentsits application in the design of a dynamic positioning system of an underwater vehicle.The simulation re-sults show that this method is effective and sueccssful with strong robustness to parameter perturbations.