高技术通讯2017，Vol.27Issue(1)：62-71,10.DOI:10.3772/j.issn.1002-0470.2017.01.008
新型变倾斜参数S型函数的积分滑模水下机器人控制方法研究
Research on the integral sliding mode controll of underwater vehicles based on variable parameter sigmoid function
摘要
Abstract
The sliding mode control of underwater vehicles'' trajectory tracking was studied.To solve the influence of the mode chattering on the stability of underwater vehicles, an integral sliding mode switching function based on variable parameter sigmold function was established, and the function was applied to the control design.The designed controller can eliminate the chattering problem, which reduces the possible overshoot of traditional integral sliding mode controllers and maintains a high control precision.The theoretical proof and simulation experiment proved the effectiveness of the new control method.关键词
水下机器人/轨迹跟踪/滑模控制/积分滑模面/S型函数Key words
underwater vehicles/trajectory tracking/sliding mode control/integral sliding surface/sigmoid function引用本文复制引用
薛丰,朱大奇,邓志刚..新型变倾斜参数S型函数的积分滑模水下机器人控制方法研究[J].高技术通讯,2017,27(1):62-71,10.基金项目
国家自然科学基金(51575336),上海市科委创新行动计划(14JC1402800)资助项目. （51575336）
