基于NDO的ROV变深自适应终端滑模控制器设计

针对ROV的深度控制问题, 提出基于非线性干扰观测器的自适应终端滑模控制方法. 详细叙述了控制器的设计过程, 并利用Lyapunov 稳定性判据, 验证了存在模型参数不确定性和外干扰时, 系统的全局渐近稳定性和跟踪误差的收敛性. 仿真实验表明, 所提出的控制器不仅能够很好地估计并克服外干扰和模型不确定性等因素, 具有很好的鲁棒性能, 而且还可以实现在任意规定时刻变深运动的快速收敛.

Design of adaptive terminal sliding mode controller based on nonlinear disturbance observer for ROV depth changing

The problem focused on depth control for ROV is studied, and the adaptive terminal sliding mode controller based on nonlinear disturbance observer(NDO) is proposed. The design process is described in detail. By using the Lyapunov stability criterion, global asymptotic stability and tracking error convergence are proved when external disturbance and model uncertainties exist. Simulation studies show that the proposed controller can overcome and estimate factors such as external disturbance and model uncertainties well, and has good robust performance and the ability of rapid convergence for depth changing at any time.