Bottom-following control for an underactuated unmanned underwater vehicle using integral sliding mode control

被引：0

作者：

Yan Z. ^{[1
]}

Yu H. ^{[1
]}

Li B. ^{[1
]}

Zhou J. ^{[1
]}

机构：

[1] College of Automation, Harbin Engineering University, Harbin

来源：

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2016年 / 37卷 / 05期

关键词：

Backstepping method; Bottom-following; Finite-time stability; Integral sliding mode control; Parameter perturbations; Underactuated UUV;

D O I：

10.11990/jheu.201412020

中图分类号：

学科分类号：

摘要：

The bottom-following problem of an underactuated unmanned underwater vehicle (UUV) is discussed with consideration of the effects of parameter perturbation and external disturbances. A bottom-following control law based on the backstepping method and integral sliding mode control (ISMC) is presented, which eliminates parameter perturbations and external disturbances. First, the bottom-following error equations were established using the kinematic properties of the vehicle and the local Serret-Frenet Frame. Then, the kinematic control law (guidance law) and dynamic control law were developed based on the backstepping method and ISMC. Thus, the closed-loop motion system under the proposed control law was proven to have global finite-time stability. These simulation results show that the bottom-following mission can efficiently be achieved, and there is strong robustness to the parameter perturbations and external disturbances. © 2016, Editorial Department of Journal of HEU. All right reserved.

引用

页码：701 / 706

页数：5

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