AUV course angle control method for optimizing adaptive sliding mode control parameters based on particle swarm optimization

The invention provides an AUV course angle control method for optimizing self-adaptive sliding mode control parameters based on particle swarm optimization, the switching function and reaching law parameters are optimized and designed through the particle swarm optimization, the speed of a system reaching a sliding plane is increased, the whole dynamic response process has high robustness and performance, the contradiction between quality control and high-frequency vibration in traditional self-adaptive sliding mode control is solved, and accurate control over the AUV is achieved. 本发明提出一种基于粒子群算法优化自适应滑模控制参数的AUV航向角控制方法，利用粒子群算法优化设计切换函数和趋近律参数，加快系统到达滑动平面的速度，使整个动态响应过程中都具有强鲁棒性和良好的性能，解决传统自适应滑模控制中存在的品质控制和高频颤动之间的矛盾，实现AUV的精确控制。