控制理论与应用2011，Vol.28Issue(10)：1441-1446,6.
作业型遥控水下运载器的多变量backstepping鲁棒控制
Multivariable backstepping robust control for work-class remotely operated vehicle
摘要
Abstract
To deal with complex disturbances, parameter uncertainties and strong nonlinear coupling in work-class remotely operated vehicles（ROVs）, we propose a method for designing the multivariable backstepping robust controller. By using Lyapunov stability analysis, we prove the locally asymptotically stability of the controlled system and the locally asymptotically convergence of the tracking error, in the presence of parameter uncertainties and unknown constant disturbances. To simplify the realization of the controller, the system model is reduced to a 4-degrees of freedom（4-DOF） model by considering the characteristics of work-class ROVs in dynamic positioning. Simulation results validate that the multivariable backstepping robust controller surpasses traditional PID controller in control performances and robustness.关键词
backstepping控制/多变量控制/鲁棒控制/动力定位/作业型遥控水下运载器Key words
backstepping control/multivariable control/robust control/dynamic positioning/work-class remotely operated vehicle分类
信息技术与安全科学引用本文复制引用
朱康武,顾临怡..作业型遥控水下运载器的多变量backstepping鲁棒控制[J].控制理论与应用,2011,28(10):1441-1446,6.基金项目
国家“863”计划资助项目 （）
浙江省重大科技专项和优先主题重点资助项目（2006C13088）. （）
