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基于改进主从控制结构的海洋机器人零航速减摇鳍系统

, PP. 1864-1868

Keywords: 海洋机器人,零航速减摇鳍,横摇减摇,主从结构,近水面

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Abstract:

利用零航速减摇鳍系统实现对海洋机器人在近水面低速航行时的横摇姿态控制.基于零航速减摇鳍的非线性动态特性和海洋机器人横摇解耦模型,提出具有主从结构的横摇减摇控制规律.设计具有积分滑模面的变结构控制规律,估算系统期望横摇扶正力矩,并进一步结合非线性跟踪控制理论和反馈线性化方法,建立减摇鳍子系统模型,设计从属控制规律驱动减摇鳍产生实际横摇稳定力矩.仿真结果和理论分析表明,所设计的控制规律是稳定且有效的.

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