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题名: Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle
作者: Zhou HY(周焕银); Liu KZ(刘开周); Li YP(李一平); Ren SZ(任申真)
作者部门: 水下机器人研究室
关键词: Sliding Mode Control ; Multiple models switching law ; Autonomous Underwater Vehicle ; Depth control ; Lake trial
刊名: International Journal of Advanced Robotic Systems
ISSN号: 1729-8806
出版日期: 2015
卷号: 12, 页码:1-10
收录类别: SCI ; EI
产权排序: 2
项目资助者: National Natural Science Foundation of China (Grant No. 51409047, 61273334), the State Key Laboratory of Robotics (2012-008) and the Education of Jiangxi Province (GJJ13466).
摘要: This manuscript presents an improved control algorithm, called Dynamic Sliding Mode Control based on Multiple Models Switching Laws (DSMC-MMSL), for the control of the depth of the studied Autonomous Underwater Vehicle (AUV) system, the diving plane controller of which faces disturbances arising from the coupled states. The diving plane model is strongly coupled with the state variables, such as surge speeds and course angles. To achieve the desired dynamic performance, the proposed algorithm consists of two parts: the diving plane control part and the pitch control part, which is used to avoid large pitch angles. Some direct switching control laws are used for the two parts to avoid some impulse phenomena on the control executions. The error-states exponential decay is recommended to eliminate the chattering on the sliding surface. The DSMC-MMSL controller was successfully implemented and experimentally validated with the studied AUV system designed and built by Shenyang Institute of Automation. The results of some lake trials demonstrated that the depth control performances of the AUV system were as desired, and that the AUV system was robust enough for the coupled state variables under the DSMC-MMSL algorithm control.
语种: 英语
WOS记录号: WOS:000359005900002
WOS标题词: Science & Technology ; Technology
类目[WOS]: Robotics
关键词[WOS]: TRAJECTORY TRACKING CONTROL ; ADAPTIVE-CONTROL ; OCEAN CURRENTS ; MANIPULATOR ; POSITION ; FEEDBACK ; SYSTEMS ; DESIGN ; PITCH ; ROBOT
研究领域[WOS]: Robotics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/16842
Appears in Collections:水下机器人研究室_期刊论文

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