Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle
	Zhou HY(周焕银); Liu KZ(刘开周); Li YP(李一平); Ren SZ(任申真)
刊名	International Journal of Advanced Robotic Systems
	2015
卷号	12 页码:1-10
关键词	Sliding Mode Control Multiple models switching law Autonomous Underwater Vehicle Depth control Lake trial
ISSN号	1729-8806
通讯作者	周焕银
产权排序	2
中文摘要	This manuscript presents an improved control algorithm, called Dynamic Sliding Mode Control based on Multiple Models Switching Laws (DSMC-MMSL), for the control of the depth of the studied Autonomous Underwater Vehicle (AUV) system, the diving plane controller of which faces disturbances arising from the coupled states. The diving plane model is strongly coupled with the state variables, such as surge speeds and course angles. To achieve the desired dynamic performance, the proposed algorithm consists of two parts: the diving plane control part and the pitch control part, which is used to avoid large pitch angles. Some direct switching control laws are used for the two parts to avoid some impulse phenomena on the control executions. The error-states exponential decay is recommended to eliminate the chattering on the sliding surface. The DSMC-MMSL controller was successfully implemented and experimentally validated with the studied AUV system designed and built by Shenyang Institute of Automation. The results of some lake trials demonstrated that the depth control performances of the AUV system were as desired, and that the AUV system was robust enough for the coupled state variables under the DSMC-MMSL algorithm control.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
关键词[WOS]	TRAJECTORY TRACKING CONTROL ; ADAPTIVE-CONTROL ; OCEAN CURRENTS ; MANIPULATOR ; POSITION ; FEEDBACK ; SYSTEMS ; DESIGN ; PITCH ; ROBOT
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000359005900002
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/16842]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Zhou HY,Liu KZ,Li YP,et al. Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle[J]. International Journal of Advanced Robotic Systems,2015,12:1-10.
APA	Zhou HY,Liu KZ,Li YP,&Ren SZ.(2015).Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle.International Journal of Advanced Robotic Systems,12,1-10.
MLA	Zhou HY,et al."Dynamic sliding mode control based on multi-model switching laws for the depth control of an autonomous underwater vehicle".International Journal of Advanced Robotic Systems 12(2015):1-10.