基于NDO的潜艇反演滑模深度控制

针对潜艇变深运动与定深运动过程中存在模型非线性、强耦合和外界干扰不确定等问题,设计一种基于非线性干扰观测器(NDO)的反演滑模控制策略.利用NDO观测系统不确定性和外界干扰,通过选取设计参数,使观测误差指数收敛.针对潜艇垂直面控制系统双通道耦合的特点,采用艏舵控制深度,艉舵控制纵倾的策略.在深度和纵倾通道分别引入NDO后,采用反演法设计滑模控制器,基于李亚普诺夫稳定性理论证明闭环系统的全局渐近稳定性,实现对潜艇深度和纵倾的控制.仿真实验验证了该控制策略的有效性.

Backstepping sliding mode depth control for submarine based on NDO

Aiming at the problems of model nonlinear, strong coupling, as well as external disturbance of submarine in the depth control process, a sliding backstepping control strategy is proposed based on the nonlinear disturbance observer(NDO). The NDO is used to observe the uncertainties and disturbance of the system. The disturbance observer errors is in exponential convergence by electing disturbance observer. Aiming at the characteristics of dual channel coupling of the submarine vertical plane control system, the bow and stem rudder controller is used to control the depth and the pitch respectively. By using the sliding backstepping controller, the closed loop system global asymptotic stability is proved based on the Lyapunov stability theorem. Simulation results show the effectiveness of the proposed approach.