CAJ | 학술논문

未知海流等外界干扰，系统的不确定性信息对小型ROV深度控制造成不利影响。针对该问题，本文首先建立小型ROV深度方向运动数学模型，在理想和有干扰的情况下设计相应地滑模变结构控制器来实现水下机器人的位置轨迹的跟踪，利用李雅普洛夫定理在理论上证明了所设计的控制器是稳定的。仿真结果验证了跟踪控制系统的全局渐进稳定性，及对有界外部扰动的鲁棒性。
미지해류등외계간우，계통적불학정성신식대소형ROV심도공제조성불리영향。침대해문제，본문수선건립소형ROV심도방향운동수학모형，재이상화유간우적정황하설계상응지활모변결구공제기래실현수하궤기인적위치궤적적근종，이용리아보락부정리재이론상증명료소설계적공제기시은정적。방진결과험증료근종공제계통적전국점진은정성，급대유계외부우동적로봉성。
ROV depth control system is quite sensitive to the interference from both external and internal, like unknown currents, uncertain information from the system and so on. In order to eliminate the adverse ef-fects caused by different disturbance effectively, the research built a mathematic model about the depth direc-tion movement of the small ROV. Considering the interference as well as the correctness of the mold of con-troller which can track the position of the underwater robot, we built sliding mode controller respectively, in the ideal case and the interference case. By using Lyapunov theorems, we proved in theory designed controller was stable. After the simulation, the result has testified the global asymptotic stability of the tracking control system, and the robustness from bounded external disturbances.