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中南大学学报(英文版)

Journal of Central South University

Vol. 25    No. 1    January 2018

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Design of novel sliding-mode controller for high-velocity AUV with consideration of residual dead load
JIANG Chun-meng(姜春萌), WAN Lei(万磊), SUN Yu-shan(孙玉山), LI Yue-ming(李岳明)

Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University,Harbin 150001, China

Abstract:This work focuses on motion control of high-velocity autonomous underwater vehicle (AUV). Conventional methods are effective solutions to motion control of low-and-medium-velocity AUV. Usually not taken into consideration in the control model, the residual dead load and damping force which vary with the AUV’s velocity tend to result in difficulties in motion control or even failure in convergence in the case of high-velocity movement. With full consideration given to the influence of residual dead load and changing damping force upon AUV motion control, a novel sliding-mode controller (SMC) is proposed in this work. The stability analysis of the proposed controller is carried out on the basis of Lyapunov function. The sea trials results proved the superiority of the sliding-mode controller over sigmoid-function-based controller (SFC). The novel controller demonstrated its effectiveness by achieving admirable control results in the case of high-velocity movement.

 

Key words: autonomous underwater vehicle; sliding-mode control; stability analysis; residual dead load; sigmoid-function-based control

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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