參數不確定及有擾動的情況下欠驅動遙控無人潛水器魯棒性建模、滑模控制及仿真研究

作者：Mostafa Eslami,Cheng Siong Chin,Amin Nobakhti

摘要：A dynamic model of a remotely operated vehicle(ROV)is developed.The hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFX?and WAMIT?.A sliding-mode controller(SMC)is then designed for the ROV model.The controller is subsequently robustified against modeling uncertainties,disturbances,and measurement errors.It is shown that when the system is subjected to bounded uncertainties,the SMC will preserve stability and tracking response.The paper ends with simulation results for a variety of conditions such as disturbances and parametric uncertainties.

發文機構：Electrical Engineering Department Newcastle University Singapore

關鍵詞：RemotelyoperatedVEHICLERobustmodelingSliding-modecontrolSimulationDisturbancesPARAMETRICUNCERTAINTIES

分類號： T[一般工業技術]