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[1]刘云龙,高存臣,任启峰,等.水下机器人基于sigmoid函数的软变结构控制[J].电机与控制学报,2012,(02):90-95.
 LIU Yun-long,GAO Cun-chen,REN Qi-feng,et al.Soft variable structure control based on sigmoid functions for autonomous underwater vehicles[J].,2012,(02):90-95.
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2012年02
页码:
90-95
栏目:
出版日期:
2012-02-20

文章信息/Info

Title:
Soft variable structure control based on sigmoid functions for autonomous underwater vehicles
作者:
刘云龙; 高存臣; 任启峰; 郭真真;
中国海洋大学数学科学学院; 中国海洋大学信息科学与工程学院;
Author(s):
LIU Yun-long12GAO Cun-chen12REN Qi-feng1GUO Zhen-zhen1
1.School of Mathematics Sciences,Ocean University of China,Qingdao 266100,China; 2.College of Information Science and Engineering,Ocean University of China,Qingdao 266100,China
关键词:
水下机器人 滑模控制 软变结构控制 sigmoid函数 抖振
Keywords:
autonomous underwater vehicle sliding mode control soft variable structure control sigmoid function chattering
分类号:
TP242
DOI:
-
文献标志码:
A
摘要:
针对水下机器人滑模变结构控制系统抖振问题,利用具有光滑性和饱和性的sigmoid函数,提出一种水下机器人软变结构控制策略。利用Lyapunov稳定性理论,讨论控制受限情形的水下机器人软变结构控制系统的稳定性,构造基于sigmoid函数的软变结构控制器,给出水下机器人软变结构控制的具体算法。将基于sigmoid函数的软变结构控制策略用于水下机器人仿真实验研究,实验结果验证了该方法的可行性和有效性。与线性控制、饱和线性控制和基于变饱和函数的软变结构控制3种控制方法进行对比仿真分析,分析结果表明,基于sigmoid函数设计的软变结构控制系统调节精确度高、响应速度快,有效地削弱了系统抖振,具有良好的动态性能。
Abstract:
Aiming at the chattering problem to sliding mode variable structure control systems for autonomous underwater vehicles(AUVs),a control strategy named as soft variable structure control(SVSC) based on sigmoid functions with smoothness and saturability is presented.The stability of SVSC systems with restricted controls for AUVs was analyzed by Lyapunov stability theory.The soft variable structure controller based on sigmoid functions was designed and the concrete algorithm on the SVSC for AUVs was...

参考文献/References:

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备注/Memo

备注/Memo:
国家自然科学基金(60974025)
更新日期/Last Update: 2012-05-29