基于鲁棒滑模控制的水下航行器运动控制仿真研究

摘要

基于水下航行器六自由度空间运动模型，研究应用非线性鲁棒滑模控制方法的自动操纵控制方案。对水下航行器在分离式尾舵且首舵收回状态下的操纵控制方案进行仿真试验，通过数值仿真分析验证所提出算法的有效性。%Based on the standard six-degree of freedom space motion equation, a non-linear robust slide-model control protocol is proposed for the underwater vehicle with retractile fore hydroplane and separate helm. The simulation results verify the efficiency and feasibility of the proposed method.