Sliding Mode Trajectory Tracking of Underactuated UUV on Dive Plane

摘要：

　　For realizing the dive plane trajectory tracking of underactuated UUV with parameters uncertainties,the controller based on the Integral Nonlinear Sliding Mode Control(INSMC)is presented.The guidance of the trajectory tracking is established by the virtual vehicle method,and the tracking errors equations are built.The controller of the kinematics subsystem is designed based on Lyapunovs direct method and backstepping.The dynamic control law is developed by introducing one first-order sliding surface in terms of surge tracking errors and one second-order sliding surface in terms of heave tracking errors.The results of simulation are provided with strongly robust and preferably control performance.

关键词： Underactuated UUV Trajectory Tracking Sliding Mode Control

作者: YAN Zheping YU Haomiao LI Benyin ZHOU Jiajia

作者单位: College of Automation,Harbin Engineering University,Harbin 150001,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 7909-7914

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）