Recursive Least Square Algorithm and Sliding Mode Controller to Diving System of an AUV

摘要：

　　The problems of model identification and depth control for an autonomous underwater vehicle (AUV) are addressed in this paper.In order to enhance the controllers reliability,estimation of parameters using experimental data from previous lake tests of an AUV named BSA is carried out to minimize modeling error.With the identified hydrodynamic model in the vertical plane,this paper adopts an optimal sliding mode control scheme to solve the depth control problem in the presence of vehicles nonlinear terms and model uncertainty.This proposed method verified by simulation and lake trial shows that it is effective to realize depth control with the help of system identification.

关键词： Parameter estimation autonomous underwater vehicle depth control sliding mode controller

作者: ZHOU Jiajia JIA Heming YU Haomiao ZHANG Honghan

作者单位: College of Automation,Harbin Engineering University,Harbin 150001,China College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin,150040,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: 88-92

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）