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The bio-inspired model based hybrid sliding-mode tracking control for unmanned underwater vehicles.
- Source :
-
Engineering Applications of Artificial Intelligence . Nov2013, Vol. 26 Issue 10, p2260-2269. 10p. - Publication Year :
- 2013
-
Abstract
- Abstract: In this paper a novel hybrid control strategy is developed for trajectory tracking control of unmanned underwater vehicle (UUV). The proposed hybrid control strategy consists of two subsystems: a virtual velocity controller and a sliding-mode controller. The tracking errors are shown to asymptotically converge to zero by Lyapunov stability theory using the new approach, whereas in the traditional backstepping method, speed jump occurs if the tracking error changes suddenly. The biologically inspired model is designed to smooth the virtual velocity controller output, avoid speed jumps of underwater vehicles and satisfy the thruster control constraint. The effectiveness and efficiency of the proposed control strategy are demonstrated through simulations and comparison studies. [Copyright &y& Elsevier]
Details
- Language :
- English
- ISSN :
- 09521976
- Volume :
- 26
- Issue :
- 10
- Database :
- Academic Search Index
- Journal :
- Engineering Applications of Artificial Intelligence
- Publication Type :
- Academic Journal
- Accession number :
- 91266676
- Full Text :
- https://doi.org/10.1016/j.engappai.2013.08.017