参数不确定及有扰动的情况下欠驱动遥控无人潜水器鲁棒性建模、滑模控制及仿真研究（英文）

作     者：Mostafa Eslami Cheng Siong Chin Amin Nobakhti 

作者机构：Electrical Engineering DepartmentSharif University of TechnologyAzadi AvenueTehran 11365-11155Iran Newcastle University SingaporeSingapore 599493Singapore 

出 版 物：《Journal of Marine Science and Application》 (船舶与海洋工程学报（英文版）)

年 卷 期：2019年第18卷第2期

页      面：213-227页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 0707[理学-海洋科学] 08[工学] 0815[工学-水利工程] 0824[工学-船舶与海洋工程] 0802[工学-机械工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Newcastle University in Singapore 

主　　题：Remotely operated vehicle Robust modeling Sliding-mode control Simulation Disturbances Parametric uncertainties 

摘      要：A dynamic model of a remotely operated vehicle(ROV)is *** hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFX?and WAMIT?.A sliding-mode controller(SMC)is then designed for the ROV *** controller is subsequently robustified against modeling uncertainties,disturbances,and measurement *** is shown that when the system is subjected to bounded uncertainties,the SMC will preserve stability and tracking *** paper ends with simulation results for a variety of conditions such as disturbances and parametric uncertainties.