基于无模型高阶滑模控制的1 DOF水下系统深度控制

T. Salgado-Jiménez, L. García-Valdovinos, G. Delgado-Ramírez
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引用次数: 11

摘要

水下航行器的控制有两个问题需要解决;参数不确定性和未知干扰。滑模控制(SMC)有效地解决了这些问题,因此是控制水下航行器的可行选择。另一方面,这种方法容易受到颤振的影响,颤振是由开关控制引起的高频信号。本文介绍了一种新的控制方法——无模型高阶滑模控制。HOSMC的主要特点是保留了标准SMC的主要优点,消除了抖振效应,这一优点是在不需要模型知识的情况下实现的。在一个1自由度的水下系统中进行了实时实验,以验证控制的有效性。最后,对PID控制与常规SMC控制进行了比较研究。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Depth Control of a 1 DOF Underwater System Using a Model-Free High Order Sliding Mode Control
The underwater vehicle control has two problems to deal with; parametric uncertainty and unknown disturbance. Sliding Mode Control (SMC) effectively addresses these issues and is therefore a viable choice for controlling underwater vehicles. On the other hand, this method is known to be susceptible to chatter, which is a high frequency signal induced by the switching control. In this paper a new control methodology called Model-free High Order Sliding Modes Control (HOSMC) is introduced. HOSMC principal characteristic is that it keeps the main advantages of the standard SMC, removing the chattering effects, this advantage is achieved without model knowledge. Real time experiments in a 1 DOF (Degree Of Freedom) underwater system are conducted to show control effectiveness. Finally, a comparative study regarding PID control and conventional SMC is given.
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