Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control

被引：14
|
作者：
Ding, Fuguang [1 ]
Wu, Jing [1 ]
Wang, Yuanhui [1 ]
机构：
[1] Harbin Engn Univ, Automat Coll, Harbin 150001, Peoples R China
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2013年 / 2013卷
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1155/2013/324954
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and adaptive sliding mode, was suitable for solving the problem of the control of higher systems, can keep the system global asymptotic stability, and can inhibit unknown interference, and boundary layer can weaken the buffeting generated by sliding mode. The unknown interference was estimated by adaptive function. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control laws.
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收藏
页数：5
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