变质心自主水下航行器定深控制研究

对变质心自主水下航行器（AUV）定深控制问题进行了研究。建立了相应的纵平面的变质心AUV的运动数学模型。在此基础上，基于滑模控制理论设计了变质心控制系统，控制质量块的偏移运动，进而控制AUV定深运动。仿真结果表明：该控制器可满足AUV定深控制的需要，使定深误差趋近于零，并对建模误差具有一定的鲁棒性。

Study on depth control of autonomous underwater vehicle with moving mass

The depth control problem is discussed for Autonomous Underwater Vehicle(AUV) with one moving mass.The mathematic model of the AUV with one moving mass is created in the vertical plane.Based on sliding mode control theory, a nonlinear controller is designed to control the offset of the movable mass,and thus to control the depth of AUV.Simulation results show that the proposed controller can meet the depth control requirements of AUV and make the depth tracking error to be convergent to zero with good robust...