Abstract

Underactuated autonomous underwater vehicle (AUV) is a kind of AUV with independent control inputs less than the number of degrees of freedom of motion. Its trajectory tracking problem has increasingly become a research hotspot. This paper proposes a backstepping adaptive sliding mode control algorithm, which realizes the trajectory tracking of underactuated AUV under external environmental interference, and derives it to prove the stability. The algorithm introduces a position error margin, uses the backstepping method to design the desired speed of underactuated AUV, and proposes an antiinterference adaptive sliding mode control, which achieves the convergence of the tracking position error by speed control. Finally, through simulation, the trajectory tracking problem of helix is solved and analyzed by using this method, which shows the timeliness, stability and robustness.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.