【摘要】 由于水下机器人系统的强非线性以及所处环境的不确定性 ,水下机器人进行精确作业时的运动控制技术一直是智能水下机器人技术中急于解决而又难于解决的问题 .S面控制是一种简单实用的控制方法 ,但其控制器参数完全靠人工调整 ,需要设计者有丰富的实际经验。本文提出改进的S面控制方法为S面控制增加了自学习的算法 ,实现控制参数的自动调整 .仿真结果表明改进S面控制方法具有更好的控制精度 ,更快的响应速度 ,改善了机器人的工作性能 ,是一种很实用的水下机器人控制方法更多还原

【Abstract】 Nonlinearity of underwater vehicles (UVs) and uncertainties of working environments make the precise control of AUVs difficult for some of the intelligent operations. S Plane Control(SPC) is a simple and effective method, but parameters must be manually set for its controller and its designer must have expert knowledge. Improved S Plane Control(ISPC) has its self-learning algorithm for on_line setting of control parameters.Simulation results show that Improved S Plane Controller(ISPC) is a useful control algorithm for underwater vehicles,which features higher precision, quicker response. and better robustness.更多还原