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Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle
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
发表期刊International Journal of Advanced Robotic Systems
ISSN1729-8806
2015
卷号12页码:1-10
收录类别SCI ; EI
EI收录号20153201115869
WOS记录号WOS:000359005900002
产权排序2
资助机构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标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]TRAJECTORY TRACKING CONTROL ; ADAPTIVE-CONTROL ; OCEAN CURRENTS ; MANIPULATOR ; POSITION ; FEEDBACK ; SYSTEMS ; DESIGN ; PITCH ; ROBOT
WOS研究方向Robotics
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/16842
专题水下机器人研究室
通讯作者Zhou HY(周焕银)
作者单位1.East China Institute of Technology, Nanchang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Zhou HY,Liu KZ,Li YP,et al. Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle[J]. International Journal of Advanced Robotic Systems,2015,12:1-10.
APA Zhou HY,Liu KZ,Li YP,&Ren SZ.(2015).Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle.International Journal of Advanced Robotic Systems,12,1-10.
MLA Zhou HY,et al."Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle".International Journal of Advanced Robotic Systems 12(2015):1-10.
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