期刊
OCEAN ENGINEERING
卷 234, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2021.109164
关键词
UUV; ISMC; STISMC; Super-twisting
资金
- UMI-LAFMIA-CNRS [3175]
- Secretariat of Public Education, Mexico - Center for Research and Advanced Studies of the National Polytechnic Institute Project Desarrollo de vehiculos aereos y submarinos para aplicaciones de inspeccion en plantas hidroelectricas utilizando navegacion re [241]
This research work focuses on designing a robust control algorithm for the 3D trajectory tracking of a 4DOF Unmanned Underwater Vehicle, which combines integral sliding mode control technique with a super-twisting controller to compensate for disturbances and reduce chattering phenomenon. The proposed controller demonstrates satisfactory performance in simulations and real-time experiments, ensuring convergence to desired references and significant reduction in chattering effect on control inputs.
This research work focuses on the design of a robust control algorithm for 3D trajectory tracking of a 4DOF Unmanned Underwater Vehicle (UUV). The proposed strategy is based on a combination of the integral sliding mode control technique with the super-twisting controller, guaranteeing a continuous compensation of bounded disturbances and accomplishing a significant reduction on the chattering phenomenon. In order to verify stability of the closed-loop system, Lyapunov theory is used to guarantee the asymptotic stability in the tracking errors. To demonstrate the satisfactory performance of the proposed controller even in presence of disturbances, a set of simulations and real-time experiments were performed for the trajectory tracking. The graphs show that the proposed controller guarantees the converges to the desired references and a high reduction in the chattering effect on the inputs control.
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