Finite-Time Sliding Mode Control for Undersea Vehicles

CHU Yue; SHI Zelin; WANG Mengjun; LIU Pingan

doi:10.11993/j.issn.2096-3920.2022-0060

Volume 31 Issue 6

Dec 2023

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Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(6): 878-884

CHU Yue, SHI Zelin, WANG Mengjun, LIU Pingan. Finite-Time Sliding Mode Control for Undersea Vehicles[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 878-884. doi: 10.11993/j.issn.2096-3920.2022-0060

Citation:

CHU Yue, SHI Zelin, WANG Mengjun, LIU Pingan. Finite-Time Sliding Mode Control for Undersea Vehicles[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 878-884. doi: 10.11993/j.issn.2096-3920.2022-0060

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Finite-Time Sliding Mode Control for Undersea Vehicles

doi: 10.11993/j.issn.2096-3920.2022-0060

1.
College of Aerospace and Civil Engineering, Harbin Engineeing University, Harbin 150001, China
2.
Hebei Key Laboratory of Dual Medium Power Technology, Handan 056017, China

Received Date: 2022-11-05
Rev Recd Date: 2023-01-29

Available Online: 2023-11-17

Abstract

Abstract

A finite-time sliding mode control system based on a radial basis function (RBF) neural network was proposed to solve the longitudinal control problem of incomplete submerged vehicles because of the uncertainty and nonlinearity of undersea vehicle systems. The unknown term in the state space equation of undersea vehicles was compensated for by the estimated value of the neural network, and the weight of the neural network was updated by the corresponding adaptive law. The stability of the system was proved by Lyapunov stability theory, where the tracking error could converge to a small neighborhood near zero within a finite time. The simulation results show that the control system proposed in this paper can make the undersea vehicle track the desired trajectory within a finite time.
- undersea vehicle,
- finite-time control,
- sliding mode control,
- radial basis function

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References(12)

References

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