ITERATIVE SLIDING MODE CONTROL FOR PATH-FOLLOWING OF UNDERACTUATED AUV

摘要：

In orter to achieve path following of underactuated autonomous underwater vehicle (AUV) in unknown disturbance currents, a nonlinear iterative sliding mode control method is presented with common curve parameters and the Serret-Frenet coordinate system described the path tracking error, the equation of underactuated AUV horizontal tracking error is established to overcome the problem of singular value. Design nonlinear sliding mode controller by iterative method, with no estimatation of AUV model uncertainty parameter and current disturbances. Circular reference path can be selected which results prove that the path tracking control method is effective and underactuated AUV can track the desired horizontal path precisely.

关键词： under-actuated path-following nonlinear sliding mode Serret-Frenet coordinate

作者: LU WANG HE-MING JIA LI-JUN ZHANG LI-XIN YANG HONG-BIN WANG

作者单位: College of Automation Harbin Engineering University Harbin, China College of Computer Science and Technology Harbin Engineering University Harbin,China

会议类型: 国际会议

会议名称: 3rd International Conference on Mechanical and Electrical Technology(ICMET2011) (2011第三届机械与电气技术国际会议)

会议地点: 大连

会议语种:英文

页码: 191-195

在线出版日期: 2011-08-26（万方平台首次上网日期，不代表论文的发表时间）