作业型遥控水下运载器的多变量backstepping鲁棒控制-控制理论与应用.pdf

28 10 Vol. 28 No. 10 2011 10 Control Theory Applications Oct. 2011 : 1000−8152(2011)10−1441−06 backstepping , (, 310027) : (ROV), ROV backstepping.Lyapunov, , , . ROV , . , backstepping PID. : backstepping; ; ; ; : TP249 : A Multivariable backstepping robust control for work-class remotely operated vehicle ZHU Kang-wu, GU Lin-yi (State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou Zhejiang 310027, China) Abstract: To deal with complex disturbances, parameter uncertainties and strong nonlinear coupling in work-class re- motely operated vehicles(ROVs), we propose a method for designing the multivariable backstepping robust controller. By using Lyapunov stability analysis, we prove the locally asymptotically stability of the controlled system and the locally asymptotically convergence of the tracking error, in the presence of parameter uncertainties and unknown constant dis- turbances. To simplify the realization of the controller, the system model is reduced to a 4-degrees of freedom(4-DOF) model by considering the characteristics of work-class ROVs in dynamic positioning. Simulation results validate that the multivariable backstepping robust controller surpasses traditional PID controller in control performances and robustness. Key words: backstepping control; multivariable control; robust control; dynamic positioning; work-class remotely operated vehicle 1 (Introduction) ROVPID, (ROV) , , [1]. . ROV , . ROV. ROV, ROV . YoergerSlotine[3, 4] , ROV , . ,