Dynamic Sliding-Mode Control with Backstepping for Underactuated AUV in Diving Plane

被引：1
|
作者：
Guo Li-dong [1 ]
Yang Li-xin [2 ]
Jia He-ming [3 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin, Peoples R China
[2] Heilongjiang Inst Sci Technol, Coll Elect & Informat Engn, Harbin, Peoples R China
[3] Northeast Forest Univ, Coll Mech & Elect Engn, Harbin, Peoples R China
来源：
ADVANCES IN MANUFACTURING TECHNOLOGY, PTS 1-4 | 2012年 / 220-223卷
关键词：
underactuated AUV; diving control; dynamic sliding-mode; Lyapunov stability theory;
D O I：
10.4028/www.scientific.net/AMM.220-223.1148
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A dynamic sliding-mode control (DSMC) with backstepping is proposed for diving control of autonomous underwater vehicle (AUV), where surge force and stem plane are only available for vehicle's 3DOF diving motion. First, an equivalent model of AUV is developed. Then, the DSMC with an asymptotical sliding surface is proposed for the trajectory tracking control of AUV. Moreover, the analysis of stability can be completed by Lyapunov stability theory. Finally, To demonstrate the effectiveness of the proposed method, the simulation results are illustrated in this paper. simulation results show that, the tracking precision and the robustness of the system are improved under the proposed control method.
引用
收藏
页码：1148 / +
页数：2
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