【摘要】 欠结构水下机器人的控制是一个具有很大难度的课题。研究了一种欠结构多方位智能机器人的跟踪问题,在机器人参数不确定及存在未知环境扰动的情况下,设计出了连续的自适应控制器,使得机器人可以自动地跟踪任意光滑的轨迹,并且跟踪误差收敛于半径为任意小的原点的邻域。Matlab仿真研究表明了该控制方案的有效性。更多还原

【Abstract】 The tracking problem for an underactuated underwater omni-directional intelligent navigator is studied. The global adaptive continuous controller is proposed to force the navigator to follow any smooth time-varying bounded trajectory despite of the uncertainty of the navigator’s damping parameters, and the error of tracking and parameter estimation-are ultimately confined to a ball that can be made arbitrarily small. Numerical simulations are provided to illustrate the effectiveness of the proposed method.更多还原