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发明公开
CN104881038A 环境干扰下的水下无人航行器航迹跟踪控制优化方法 无效 - 撤回

环境干扰下的水下无人航行器航迹跟踪控制优化方法
摘要：
环境干扰下的水下无人航行器航迹跟踪控制优化方法，本发明涉及水下无人航行器航迹跟踪控制优化方法。本发明的目的是为了解决现有UUV的航迹跟踪控制的准确率低的问题。通过以下技术方案实现：步骤一、建立UUV水平面数学模型；步骤二、在UUV水平面数学模型的基础上进行PID控制，实现UUV航迹跟踪控制；步骤三、在UUV航迹跟踪控制的基础上对PID控制进行改进，确定非线性控制律及观测器。本发明应用于水下无人航行器领域。
摘要（英）：

The present invention relates to a UUV track tracking control optimization method under environmental interference, and aims to solve the existing problem that the accuracy of the conventional UUV track tracking control is low. The UUV track tracking control optimization method under the environmental interference is realized by the following technical scheme having a step 1 of establishing a UUV horizontal plane mathematical model; a step 2 of carrying out the PID control on the basis of the UUV horizontal plane mathematical model, and realizing the UUV track tracking control; a step 3 of improving the PID control on the basis of the UUV track tracking control, and determining a nonlinear control law and an observer. The UUV track tracking control optimization method under the environmental interference is applied to the UUV field.

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