期刊
OCEAN ENGINEERING
卷 105, 期 -, 页码 54-63出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2015.06.022
关键词
Backstepping; Sliding mode control; Underactuated system; Lyapunov stability theory; Unmanned underwater vehicles
资金
- National Natural Science Foundation of China [51179038]
- Fundamental Research Funds for the Central Universities [HEUCFX041401]
- Harbin Engineering University Science and Technology on Underwater Vehicle Laboratory [9140C270208140C27004]
This paper proposes a novel adaptive dynamical sliding mode control based methodology to design control algorithms for the trajectory tracking of underactuated unmanned underwater vehicles (UUVs). The main advantage of the approach is that the combination of backstepping and sliding mode control enhances the robustness of an UUV in the presence of systematical uncertainty and environmental disturbances. The position and attitude dynamical equations of an underactuated UUV are first represented and analyzed using coordinate transformation with the aid of backstepping technique. Subsequently, the output feedback problem is tackled by employing adaptive sliding mode control to estimate the systematical uncertain states required by the stable velocity tracking controller. The final controlled system can be proved to be globally asymptotically stable based on Lyapunov stability theory. Simulations performed on an underactuated UUV demonstrate the effectiveness of the proposed method. (C) 2015 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据