期刊
IEEE ACCESS
卷 7, 期 -, 页码 101620-101632出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2019.2925570
关键词
UUV; trajectory tracking; integral sliding mode control; double-loop control structure
资金
- National Natural Science Foundation of China [51609046/E091002]
- Research Fund from Science and Technology on Underwater Vehicle Technology [614221502061701]
To solve the problem of trajectory tracking control for the underactuated unmanned underwater vehicle (UUV) in external current disturbance, a back-stepping sliding mode control method with double-loop structure is proposed in this paper. The outer-loop controller constructs the position error sliding surface through desired position error, obtains the kinematics control law by combining with power reaching law, and gets the error of virtual velocity after completing the design of trajectory tracking kinematics controller. The inner-loop controller constructs the sliding surface of longitudinal, horizontal, and vertical velocity error, respectively, with the help of the UUV speed error. Also, the trajectory tracking dynamic controller is designed by combining with the exponential reaching law, where the control moment is almost chattering-free. The stability of the double-loop control system is proved by combining with the Lyapunov stability theory. Finally, the simulation experiments verify the high effectiveness of the algorithm.
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