水下无人系统学报2023，Vol.31Issue(6)：878-884,7.DOI:10.11993/j.issn.2096-3920.2022-0060
水下航行器有限时间滑模控制
Finite-Time Sliding Mode Control for Undersea Vehicles
褚悦 1石泽林 1王孟军 2刘平安1
作者信息
- 1. 哈尔滨工程大学航天与建筑工程学院,黑龙江哈尔滨, 150001
- 2. 哈尔滨工程大学航天与建筑工程学院,黑龙江哈尔滨, 150001||河北省双介质动力技术重点实验室,河北邯郸, 056017
- 折叠
摘要
Abstract
A finite-time sliding mode control system based on a radial basis function(RBF)neural network was proposed to solve the longitudinal control problem of incomplete submerged vehicles because of the uncertainty and nonlinearity of undersea vehicle systems.The unknown term in the state space equation of undersea vehicles was compensated for by the estimated value of the neural network,and the weight of the neural network was updated by the corresponding adaptive law.The stability of the system was proved by Lyapunov stability theory,where the tracking error could converge to a small neighborhood near zero within a finite time.The simulation results show that the control system proposed in this paper can make the undersea vehicle track the desired trajectory within a finite time.关键词
水下航行器/有限时间控制/滑模控制/径向基函数Key words
undersea vehicle/finite-time control/sliding mode control/radial basis function分类
军事科技引用本文复制引用
褚悦,石泽林,王孟军,刘平安..水下航行器有限时间滑模控制[J].水下无人系统学报,2023,31(6):878-884,7.
