基于连续滑模控制的水下无人航行器航向跟踪研究杨晨宇，刘丹，刘璐，王永华，齐向东，刘双峰，薛晨阳(中北大学仪器科学与动态测试教育部重点实验室，山西太原030051)摘要:本文提出在构建模糊水下无人航行器运动学模型的前提下，设计一款基于时变干扰观测器的连续滑模控制器。干扰观测器把系统误差及外界干扰等效到控制端，连续滑模控制器通过切换控制量使系统趋于平衡点。该控制器可快速响应，且对于模型参数变化及外界干扰不敏感，具有较强的鲁棒性。此外，将直线、正弦波及自定义曲线设置为预定航向，通过Matlab/Simulink进行仿真验证水下无人航行器是否可以实现在复杂水域下的轨迹跟踪，达到航向控制目的。关键词：水下无人航行器；连续滑模控制；航向跟踪；时变干扰观测器中图分类号：TP13文献标识码：A文章编号：1672–7649(2023)12–0063–06doi：10.3404/j.issn.1672–7619.2023.12.012ResearchonunderwatersubmersiblecoursetrackingbasedoncontinuousslidingmodecontrolYANGChen-yu,LIUDan,LIULu,WANGYong-hua,QIXiang-dong,LIUShuang-feng,XUEChen-yang(KeyLaboratoryofInstrumentationScienceandDynamicMeasurement,MinistryofEducation,NorthUniversityofChina,Taiyuan030051,China)Abstract:Thispaperproposestodesignacontinuousslidingmodecontrollerbasedonatime-varyingdisturbanceob-serverunderthepremiseofconstructingafuzzysubmersiblekinematicmodel.Thedisturbanceobserverequatesthesystemerrorandexternaldisturbancetothecontrolside,andthecontinuousslidingmodecontrollerconvergesthesystemtotheequilibriumpointbyswitchingthecontrolquantity.Thecontrollercanrespondquicklyandisinsensitivetomodelparamet-erchangesandexternaldisturbances,andhasstrongrobustness.Inaddition,straightline,sinusoidalwaveandcustomcurvearesetasthepredeterminedheading,andthesimulationiscarriedoutbyMatlab/Simulinktoverifywhetherthesubmersiblecanachievethetrajectorytrackingincomplexwatersandachievetheheadingcontrolpurpose.Keywords:UUV；continuousslidingmodecontrol；headingtracking；interferenceobserver0引言水下无人航行器（UUV）自主、智能、灵活且能长时间工作需要具备良好的控制性能，。但是因为水下环境复杂，水流多变，干扰不可控制，航向稳定性及其精度无法得到保证仍是一个需要解决的问题。目前...
