کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
380789 1437453 2013 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
The bio-inspired model based hybrid sliding-mode tracking control for unmanned underwater vehicles
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
The bio-inspired model based hybrid sliding-mode tracking control for unmanned underwater vehicles
چکیده انگلیسی

In this paper a novel hybrid control strategy is developed for trajectory tracking control of unmanned underwater vehicle (UUV). The proposed hybrid control strategy consists of two subsystems: a virtual velocity controller and a sliding-mode controller. The tracking errors are shown to asymptotically converge to zero by Lyapunov stability theory using the new approach, whereas in the traditional backstepping method, speed jump occurs if the tracking error changes suddenly. The biologically inspired model is designed to smooth the virtual velocity controller output, avoid speed jumps of underwater vehicles and satisfy the thruster control constraint. The effectiveness and efficiency of the proposed control strategy are demonstrated through simulations and comparison studies.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Engineering Applications of Artificial Intelligence - Volume 26, Issue 10, November 2013, Pages 2260–2269
نویسندگان
, ,