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Volume 26 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2018  >  26(3): 200-206
YAN Zhe-ping, LI Xiang, SONG Yu-wu, LI Juan. Trajectory Tracking Control Method for Underactuated UUV Using Integral Sliding Mode under Parameter Perturbation[J]. Journal of Unmanned Undersea Systems, 2018, 26(3): 200-206. doi: 10.11993/j.issn.2096-3920.2018.03.003
Citation: YAN Zhe-ping, LI Xiang, SONG Yu-wu, LI Juan. Trajectory Tracking Control Method for Underactuated UUV Using Integral Sliding Mode under Parameter Perturbation[J]. Journal of Unmanned Undersea Systems, 2018, 26(3): 200-206. doi: 10.11993/j.issn.2096-3920.2018.03.003
shu

Trajectory Tracking Control Method for Underactuated UUV Using Integral Sliding Mode under Parameter Perturbation

doi: 10.11993/j.issn.2096-3920.2018.03.003
  • 1.

    College of Automation, Harbin Engineering University, Harbin 150001, China

  • 2.

    Theory Training Department of Harbin Air Force Flight Academy, Harbin 150001, China

  • 3.

    Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin 150001, China

  • Received Date: 2016-11-19
  • Rev Recd Date: 2016-12-18
  • Publish Date: 2018-06-30
    Abstract
  • A horizontal plane trajectory tracking control problem of an underactuated unmanned undersea vehicle(UUV) is discussed considering parameter perturbation. A control strategy based on backstepping method and integral sliding mode control method is hence proposed. The trajectory tracking error equation is established using the motion characteristics of the UUV. Employing the backstepping method and the integral sliding mode control method, the first-order integral sliding mode vertical velocity controller and yaw velocity controller are designed to realize the horizontal plane trajectory tracking with parameter perturbation, and the stability of the system is proved. Simulation results show that the proposed trajectory tracking control method can effectively complete trajectory tracking task, and is rather robust to parameter perturbation.

     

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