【摘要】 对水下机器人(AUV)基于混合灵敏度的H∞控制设计中的权函数选取方法进行探讨,并就频域分析给出一种公式化方法,解释其物理意义。此方法可依据控制对象的频率特性,简单的确定其权函数。AUV运动控制器的设计实例表明,按此方法选取权函数设计得到的控制器可以对跟踪性能、鲁棒稳定性、干扰及模型摄动抑制等设计指标进行折衷。更多还原

【Abstract】 This paper presents a formulated weighting function design method in mixed-sensitivity H∞ control system design.In this method,weighting functions can be readily determined from the analysis of AUV′s control objectives.The physical meaning of the synthesis is also interpreted.To assess the effectiveness of the approach,an H∞ controller is designed for a small AUV-SubZero based on this method.The simulation results show that the controller can make a good trade-off between multi-objectives.更多还原