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Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control

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【作者】 严浙平于浩淼侯恕萍

【Author】 YAN Zhe-ping;YU Hao-miao;HOU Shu-ping;College of Automation,Harbin Engineering University;College of Mechanical and Electrical Engineering,Harbin Engineering University;

【机构】 College of Automation,Harbin Engineering UniversityCollege of Mechanical and Electrical Engineering,Harbin Engineering University

【摘要】 The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.

【Abstract】 The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.

【基金】 Projects (51179038,51309067) supported by the National Natural Science Foundation of China
  • 【文献出处】 Journal of Central South University ,中南大学学报(英文版) , 编辑部邮箱 ,2016年05期
  • 【分类号】U674.941
  • 【被引频次】20
  • 【下载频次】104
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