控制理论与应用2012，Vol.29Issue(9)：1139-1145,7.
具有PID反馈增益的自主水下航行器反步法变深控制
Backstepping method with PID gain tuning in diving control of autonomous underwater vehicle
摘要
Abstract
To deal with the problem of diving control for an autonomous underwater vehicle (AUV) in oceanographic mapping survey, we propose a depth control method with PID gain tuning function. In designing the controller, the requirement of the higher order derivative of virtual control variable is eliminated by adopting the backstepping method based on the feedback gain instead of the traditional backstepping method. Part of nonlinear terms is removed in the design of controller parameters by using Lyapunov stability theorem, resulting in a linear controller which is composed of state variables with PID gain tuning function. Robustness analysis is performed on the system which is uniformly ultimately bounded in the presence of model uncertainties, external disturbances and measurement noises. Simulation results show the validity and the effectiveness of the proposed controller.关键词
自主水下航行器/变深控制/反步法/反馈增益/鲁棒分析Key words
autonomous underwater vehicle(AUV)/ diving control/ backstepping/ feedback gain/ robustness analysis分类
信息技术与安全科学引用本文复制引用
王宏健,陈子印,贾鹤鸣,李娟..具有PID反馈增益的自主水下航行器反步法变深控制[J].控制理论与应用,2012,29(9):1139-1145,7.基金项目
国家自然科学基金资助项目(50979017) （50979017）
教育部高等学校博士学科点专项科研基金资助项目(20092304110008) （20092304110008）
中央高校基本科研业务费专项资金资助项目(HEUCFZ1026) （HEUCFZ1026）
哈尔滨市科技创新人才(优秀学科带头人)研究专项资金资助项目(2012RFXXG083). （优秀学科带头人）
