Design of novel sliding-mode controller for high-velocity AUV with consideration of residual dead load

作     者：JIANG Chun-meng WAN Lei SUN Yu-shan LI Yue-ming 姜春萌;万磊;孙玉山;李岳明

作者机构：Science and Technology on Underwater Vehicle LaboratoryHarbin Engineering University 

基　　金：Project(2011AA09A106)supported by the Hi-tech Research and Development Program of China Projects(51179035,51779057)supported by the National Natural Science Foundation of China Project(2015ZX01041101)supported by Major National Science and Technology of China 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2018年第25卷第1期

页      码：121-130页

摘      要：This work focuses on motion control of high-velocity autonomous underwater vehicle(AUV).Conventional methods are effective solutions to motion control of low-and-medium-velocity *** not taken into consideration in the control model,the residual dead load and damping force which vary with the AUV’s velocity tend to result in difficulties in motion control or even failure in convergence in the case of high-velocity *** full consideration given to the influence of residual dead load and changing damping force upon AUV motion control,a novel sliding-mode controller(SMC)is proposed in this *** stability analysis of the proposed controller is carried out on the basis of Lyapunov *** sea trials results proved the superiority of the sliding-mode controller over sigmoid-function-based controller(SFC).The novel controller demonstrated its effectiveness by achieving admirable control results in the case of high-velocity movement.

主 题 词：autonomous underwater vehicle sliding-mode control stability analysis residual dead load sigmoid-function-based control 

学科分类：0810[工学-土木类] 0806[工学-电气类] 08[工学] 0805[工学-能源动力学] 0703[理学-化学类] 0802[工学-机械学] 0835[0835] 0812[工学-测绘类] 080201[080201] 

核心收录：

D　O　I：10.1007/s11771-018-3722-y

馆 藏 号：203282982...