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Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control 被引量：4

Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control
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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. 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.
作者 严浙平 于浩淼 侯恕萍
机构地区 College of Automation College of Mechanical and Electrical Engineering
出处 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第5期1085-1094,共10页 中南大学学报（英文版）
基金 Projects (51179038,51309067) supported by the National Natural Science Foundation of China
关键词 终端滑模控制 水控制 欠驱动 车辆使用 无人潜水器 积分 水下 垂直运动 integral-fast terminal sliding mode control depth control underactuated unmanned undersea vehicle
分类号 U674.941 [交通运输工程—船舶及航道工程]
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参考文献41

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二级参考文献22

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二级引证文献17

Journal of Central South University
2016年 第5期

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