自主式水下載具之積分滑動控制

Integral Sliding Mode Control for Autonomous Underwater Vehicles

游士佳(Shih-Chia Yu)

指導教授 ： 黃英哲

元智大學/工程學院/電機工程學系/碩士(2001年)

摘要

在本篇論文中，將積分滑動控制的方法成功地應用於自主式水下載具的航向與潛水控制系統。本文所提出的積分滑動控制，主要將滑動控制與根軌跡法作結合，利用標準二階暫態特性適當的選取系統閉迴路極點。另一方面在滑動平面加入積分器，如此可以有效的消除輸出穩態誤差。最後應用在自主式水下載具，模擬結果顯示皆能達到控制目標。

關鍵字

積分滑動控制 ； 滑動控制 ； 水下載具 ； 極點安置

並列摘要

In this research paper, an integral sliding mode control method was successfully applied into the steering and the diving control systems of an autonomous underwater vehicle and also considerations were given to effects of the ocean current and the system disturbance on the vehicle. The sliding mode control integral function described in this paper was mainly used to, by combining the sliding mode control and the root loci together, make the system’s closed-loop poles fully controllable and, by applying root locus technique for pole allocation, allow the system to have satisfactory transient responses. On the other hand, since an integrator was included into the sliding surface, output steady-state errors could be effectively eliminated. Finally, as shown in the computer simulation results on an autonomous underwater vehicle, all the required control targets were accomplished accordingly.

並列關鍵字

Integral sliding mode control ； sliding mode control ； AUV ； pole placement design

參考文獻

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