滑动控制理论在海洋机器人动态定位系统中的应用

APPLICATION OF SLIDING CONTROL THEORY DYNAMIC POSITIONING SYSTEM DESIGN OF AN UNDERWATER VEHICLE

摘要: 本文论述了一种新的鲁棒性控制方法——滑动控制理论．并将该方法应用于海洋机器人的动态定位系统设计．仿真结果表明该方法是相当成功和有效的，对系统的参数变化有强鲁棒性．
- 滑动控制理论 /
- 水下机器人 /
- 动态定位系统
Abstract: This paper introduces a newly developed robust control method——sliding control theory and presentsits application in the design of a dynamic positioning system of an underwater vehicle.The simulation re-sults show that this method is effective and sueccssful with strong robustness to parameter perturbations.
- sliding control thcory /
- undcrwatcr vchiclc /
- dynamic positioning system