【摘要】 在无人两栖平台控制优化的研究中,由于受外界环境因素的影响,无人两栖平台在水上运动中表现出强非线性,使其水上镇定控制变得复杂,为解决上述问题,采用反步控制法提出了一种反馈时变镇定控制律。首先对无人两栖平台的数学模型进行全局微分同胚变换,转化为两个级联的子系统,然后证明了原系统与子系统间的控制问题是等价的,从而将控制系统简化,最后根据反步控制原理,利用李雅普诺夫直接方法设计了子系统的镇定控制律,并对外界干扰进行了补偿,保证了控制器对外界干扰的鲁棒性。仿真实验表明控制律超调小、收敛快、鲁棒性好,能够有效实现干扰情况下的欠驱动无人两栖平台的镇定控制。更多还原

【Abstract】 Due to the strong nonlinearity,unmanned amphibious platform is difficult to be globally asymptotically stabilized. Motivated by backstepping method,a new stabilization approach is proposed. Firstly,the global diffeomorphism is applied on unmanned amphibious platform’s mathematical model,which transfers its model into two cascaded nonlinear subsystems. And then the equivalence between platform’s model and the subsystem is proved,which supplies convenience for the establishment of the control approach. Then the subsystem’s control approach is established based on backstepping and Lyapunov direct method,and the disturbances are compensated. Finally,a simulation is carried out,which illustrates that the approach can stabilize the unmanned amphibious platform under disturbances immediately.更多还原