| 水下机器人的垂直平面导航控制器设计 |
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| 引用本文： | 宋军,许晓鸣.水下机器人的垂直平面导航控制器设计[J].上海交通大学学报,1997,31(3):24-27. |
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| 作者姓名： | 宋军 许晓鸣 |
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| 摘 要： | 用变结构控制理论，根据视线制导规律，推导了水下机器人在垂直平面内的变结构导航控制器．它有效地排除了非线性干扰，仿真结果令人满意
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| 关 键 词： | 水下机器人 变结构控制 视线制导规律 |
Autopilot Controller Designing for Subsea Robot in the Dive Plane |
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| Song Jun,Xu Xiaoming.Autopilot Controller Designing for Subsea Robot in the Dive Plane[J].Journal of Shanghai Jiaotong University,1997,31(3):24-27. |
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| Authors: | Song Jun Xu Xiaoming |
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| Institution: | Department of Automation |
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| Abstract: | Based on the line of sight guidance law, a new autopilot controller for subsea robot in the dive plane, which can fully eliminate the non linear influence, is designed according to the variable structure control theory. The simulation results show that the method is effective to the path tracking in the dive plane. |
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| Keywords: | subsea robot variable structure control line of sight guidance law7 |
| 本文献已被 CNKI 维普 等数据库收录！ |
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