基于反演设计的无人水下航行器自适应二阶滑模控制

针对存在参数不确定性和结构不确定性的无人水下航行器,利用反演设计方法设计了无人水下航行器的控制器,并利用自适应控制方法在线估计参数变化率。同时,结合滑模控制克服系统中的未建模动态特性；比较了传统滑模控制与二阶滑模控制的区别,充分体现二阶滑模控制对传统滑模控制中颤振的削弱作用；仿真验证了设将反演设计与自适应控制、滑模变结构控制相结合,.x性的系统,且非线性参数不确定,在这种情况下需要.x 计方法的有效性和正确性。

Adaptive Second Order Sliding Mode Control of UUV Based on Backstepping Design

The controllers were deigned based on backstepping for unmanned underwater vehicle with parameter and struc.ture uncertainties, and parameters were estimated by adaptive control measures. The model uncertainties of system weresolved by conventional sliding mode control and second order sliding mode control methods, and it demonstrated the effectof second order sliding mode control to relax the chatters of conventional sliding mode control. The simulations demonstrat.ed the effectiveness and correctness of the controllers deigned.