无人水下航行器滑模变结构控制研究进展

摘要

Motion control is one of the critical techniques for the development of unmanned underwater vehicles. Sliding mode control plays an important part in the various UUV motion control schemes,and great developments have been made in the last decades. In the paper, the characteristic of UUV motion control and theory of sliding mode control are introduced. The application of sliding mode control and the hybrid control schemes combining sliding monde control with adaptive control, fuzzy logic control are discussed in detail.%运动控制是无人水下航行器发展的关键技术之一.滑模控制作为1种重要的无人水下航行器控制策略受到国内外学者的广泛关注,取得了丰富的研究成果.本文简要介绍了无人水下航行器运动控制的特点和滑模控制的基本原理,并着重对无人水下航行器滑模控制以及滑模控制和自适应控制、模糊控制的结合进行了论述.