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Research on Sliding Mode Control for Near-Surface AUV Depth Regulation in Waves Circumstance

机译：波浪环境下近地表水下航行器深度调节的滑模控制研究

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The paper addresses the problems of depth regulation control of a torpedo-like autonomous underwater vehicle (AUV) in wave circumstance. A mathematical model of AUV's pith motion in vertical plane is established by simplifying and linearizing the nonlinear 6 degrees of freedom equations of motion at a specified operating point. Sliding mode control (SMC) is introduced for depth regulation and a second-order sliding mode controller is designed to reduce chattering and improve dynamic characteristics. The computer simulation results showed that the proposed controller was effective and satisfactory for resist wave disturbance.
机译：本文研究了波浪环境下鱼雷式自动水下航行器（AUV）的深度调节控制问题。通过简化和线性化指定工作点处的非线性6自由度运动方程，可以建立AUV在垂直平面上的髓核运动的数学模型。引入了用于深度调节的滑模控制（SMC），并设计了二阶滑模控制器以减少抖动并改善动态特性。计算机仿真结果表明，所提出的控制器对抵抗波扰动有效且令人满意。

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