NDLI: An integrated backstepping and sliding mode tracking control algorithm for unmanned underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Bing Sun Daqi Zhu Weichong Li
Copyright Year	2012
Description	Author affiliation: Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, China (Bing Sun; Daqi Zhu; Weichong Li)
Abstract	In this paper, an integrated backstepping and sliding mode tracking control algorithm is developed for three-dimensional tracking control of unmanned underwater vehicles (UUV). The proposed control strategy combines with a kinematic controller and dynamic controller together. The kinematic controller integrates a bio-inspired model with the basktepping method while the dynamic controller uses robust sliding mode control. Unlike the traditional backstepping method suffering from the speed jump problem, the application of bio-inspired model can generate smooth and continuous velocity signal even in the large initial errors. Therefore, a smooth control signal can be obtained by dynamic controller without thruster control saturation. The effectiveness and efficiency of the proposed control strategy are demonstrated through simulations and comparison studies.
Starting Page	644
Ending Page	649
File Size	865615
Page Count	6
File Format	PDF
ISBN	9781467315593
e-ISBN	9781467315609
e-ISBN	9781467315586
DOI	10.1109/CONTROL.2012.6334705
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-03
Publisher Place	United Kingdom
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Backstepping Biological system modeling Dynamics Unmanned underwater vehicles Vectors Mathematical model Tracking control Vehicle dynamics Underwater vehicles Bio-inspired model
Content Type	Text
Resource Type	Article

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