Abstract
摘要: 为实现欠驱动无人水下航行器(Unmanned underwater vehicle, UUV)在未知海流干扰作用下的三维航迹跟踪控制, 提出一种基于工程解耦思想设计的非线性迭代滑模航迹跟踪控制器. 基于虚拟向导的方法,建立UUV空间航迹跟踪误差方程;采用迭代方法设计非线性滑模控制器, 无需对UUV模型参数不确定部分和海流干扰进行估计,避免了舵的抖振现象以及减小了稳态误差与超调问题. 仿真实验表明,设计的控制器对欠驱动UUV系统的模型参数摄动及海流干扰变化不敏感、 且设计参数易于调节,可以实现三维航迹的精确跟踪. 关键词: 欠驱动无人水下航行器 / 三维航迹跟踪 / 非线性迭代滑模 / 虚拟向导
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