海军航空工程学院学报2016，Vol.31Issue(2)：152-158,7.DOI:10.7682/j.issn.1673-1522.2016.02.011
基于反演设计的无人水下航行器自适应二阶滑模控制
Adaptive Second Order Sliding Mode Control of UUV Based on Backstepping Design
摘要
Abstract
The controllers were deigned based on backstepping for unmanned underwater vehicle with parameter and struc⁃ture uncertainties, and parameters were estimated by adaptive control measures. The model uncertainties of system were solved by conventional sliding mode control and second order sliding mode control methods, and it demonstrated the effect of second order sliding mode control to relax the chatters of conventional sliding mode control. The simulations demonstrat⁃ed the effectiveness and correctness of the controllers deigned.关键词
无人水下航行器/反演/自适应/滑模控制Key words
unmanned underwater vehicle/backstepping/adaptive/sliding mode分类
信息技术与安全科学引用本文复制引用
杨永彬,赵贺伟,李涵..基于反演设计的无人水下航行器自适应二阶滑模控制[J].海军航空工程学院学报,2016,31(2):152-158,7.基金项目
航空科学基金资助项目 （）
