Abstract
To solve the problem of trajectory tracking control for the underactuated unmanned underwater vehicle (UUV) in external current disturbance, a back-stepping sliding mode control method with double-loop structure is proposed in this paper. The outer-loop controller constructs the position error sliding surface through desired position error, obtains the kinematics control law by combining with power reaching law, and gets the error of virtual velocity after completing the design of trajectory tracking kinematics controller. The inner-loop controller constructs the sliding surface of longitudinal, horizontal, and vertical velocity error, respectively, with the help of the UUV speed error. Also, the trajectory tracking dynamic controller is designed by combining with the exponential reaching law, where the control moment is almost chattering-free. The stability of the double-loop control system is proved by combining with the Lyapunov stability theory. Finally, the simulation experiments verify the high effectiveness of the algorithm.
Highlights
unmanned underwater vehicle (UUV) has been used in deep-sea exploration, hydrological information collection, seabed topography and geomorphology exploration widely
The trajectory tracking control problem of UUV refers to correcting its position and velocity timely, and reaching the desired position in the specific time with specific attitude based on the position and velocity of desired trajectory
Aiming at the problem of trajectory tracking backstepping control for underactuated UUV three-dimensional target, bio-inspired model and backstepping method are introduced to solve the problem of tracking shock caused by motion parameters jumping of the controller at turning points in reference [5]
Summary
UUV has been used in deep-sea exploration, hydrological information collection, seabed topography and geomorphology exploration widely. In order to solve the problem of tracking the horizontal target trajectory for underactuated UUV with the conditions of parameter perturbation and constant current disturbance, the reference [10] applies the position error of the PID sliding mode stabilization control. Reference [11] puts forward a control method of double-loop chattering-free adaptive sliding mode to solve the three-dimensional target trajectory tracking control of actuated UUV. It has the outer-loop position controller and inner-loop speed controller, and overcomes the outer-loop chattering by using saturation function instead of sign function. The application of integral sliding method for the inner loop can improves the dynamic performance of the system at the same time
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