Near-Surface Depth Control Based on Robust Backstepping Sliding Mode for Small Underwater Vehicles

SHAO Zhi-yu; WANG Ya-jie

doi:10.11993/j.issn.1673-1948.2016.03.008

Volume 24 Issue 3

Turn off MathJax

Article Contents

Article Navigation > Journal of Unmanned Undersea Systems > 2016 > 24(3): 200-205

SHAO Zhi-yu, WANG Ya-jie. Near-Surface Depth Control Based on Robust Backstepping Sliding Mode for Small Underwater Vehicles[J]. Journal of Unmanned Undersea Systems, 2016, 24(3): 200-205. doi: 10.11993/j.issn.1673-1948.2016.03.008

Citation:

SHAO Zhi-yu, WANG Ya-jie. Near-Surface Depth Control Based on Robust Backstepping Sliding Mode for Small Underwater Vehicles[J]. Journal of Unmanned Undersea Systems, 2016, 24(3): 200-205. doi: 10.11993/j.issn.1673-1948.2016.03.008

Citation:

PDF( 680 KB)

Near-Surface Depth Control Based on Robust Backstepping Sliding Mode for Small Underwater Vehicles

doi: 10.11993/j.issn.1673-1948.2016.03.008

State Key Laboratory of Explosion Science and Technology, Beijing Institute of Technology, Beijing 100081, China

Received Date: 2016-03-18
Rev Recd Date: 2016-04-21
Publish Date: 2016-06-20

Abstract

Abstract

Near-surface motion state of a small underwater vehicle is influenced by wave disturbance to lower the control accuracy. To suppress wave disturbances, a longitudinal model of the small underwater vehicle was built in this study, and a depth controller was designed with the control method of robust backstepping sliding mode. A near-surface wave disturbance model and a depth control model were established to simulate the depth control method by using Matlab/Simulink. Simulation results show that the designed depth controller is easy to be implemented with small overshoot, short setting time and strong robustness. This study may provide theoretical and technical support for solving the problem of wave disturbance in depth control.
- small underwater vehicle,
- near-surface,
- wave disturbance,
- robust backstepping sliding mode control

FullText(HTML)

References(12)

References

[1]	沈建森, 周徐昌, 高璇. 远程AUV近水面运动纵向模糊滑模控制[J]. 鱼雷技术, 2011, 19(5): 360-364. Shen Jian-sen, Zhou Xu-chang, Gao Xuan. Fuzzy Sliding Mode Control for Near-surface AUV in Longitudinal Plane[J]. Torpedo Technology, 2011, 19(5): 360-364.
[2]	Li J, Kong M, Chen X H, et al. AUV Control Systems of Nonlinear Extended State Observer Design[C]//2014 IEEE International Conference on Mechatronics and Automation(ICMA). Tianjin, China: IEEE, 2014: 1924-1928.
[3]	Nag A, Patel S S, Kishore K, et al. Robust H-infinity Based Depth Control of an Autonomous Underwater Vehicle[C] //2013 International Conference on Advanced Electronic Systems(ICAES). Pilani, India: IEEE, 2013: 68-73.
[4]	Feng Z, Allen R. Reduced Order H∞ Control of an Autonomous Underwater Vehicle[J]. Control Engineering Practice, 2004, 12(12): 1511–1520.
[5]	王坚浩, 胡剑波. 不确定非线性系统的自适应反推高阶终端滑模控制[J]. 控制与决策, 2012, 27(3): 413-418. Wang Jian-hao, Hu Jian-bo. Adaptive Backstepping High-order Terminal Sliding Mode Conrol for Uncertain Nonlinear Systems[J]. Control and Decision, 2012, 27(3): 413-418.
[6]	Fossen T I. Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles [M]. Trondheim, Norway: Marine Cybernetics AS, 2002.
[7]	Asgeir J. Marine Control Systems: Propulsion and Motion Control of Ships and Ocean Structures[M]. Trondheim, Norway: Department of Marine Technology, NTNU, 2012.
[8]	Fossen T I. TTK 4 190 Guidance and Control of Vehicles [R]. Trondheim, Norway: Department of Marine Technology, NTNU, 2011.
[9]	吴秀恒, 刘祖源, 施生达, 等. 船舶操纵性[M]. 北京: 国防工业出版社, 2005.
[10]	戴遗山, 段文祥. 船舶在波浪中运动的势流理论[M]. 北京: 国防工业出版社, 2002.
[11]	刘金琨. 滑模变结构控制MATLAB仿真[M]. 北京: 清华大学出版社, 2005.
[12]	孟凡豪. 50 kg级水下自航行器整体水动力学性能优化设计[D]. 杭州: 中国计量学院, 2014.

Relative Articles

Supplements(0)

Cited By

Proportional views

Proportional views

通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

Get Citation

PDF

XML

Article Metrics

Article Views(885) PDF Downloads(423)

Near-Surface Depth Control Based on Robust Backstepping Sliding Mode for Small Underwater Vehicles

doi: 10.11993/j.issn.1673-1948.2016.03.008

Abstract

References

Proportional views

Catalog

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Proportional views

Related

Near-Surface Depth Control Based on Robust Backstepping Sliding Mode for Small Underwater Vehicles

doi: 10.11993/j.issn.1673-1948.2016.03.008

Abstract

References

Proportional views

Catalog

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Proportional views

Related

Export File

Citation

Format

Content