A BIO-INSPIRED CASCADED APPROACH FOR THREE-DIMENSIONAL TRACKING CONTROL OF UNMANNED UNDERWATER VEHICLES

Bing Sun, Daqi Zhu, and Simon X. Yang

Keywords

Unmanned underwater vehicles, tracking control, Lyapunov stability theory, backstepping, bioinspired model, sliding mode control

Abstract

In this paper, a bio-inspired cascaded control approach 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 backstepping method while the dynamic controller uses robust sliding mode control. The system stability can be guaranteed and tracking errors can then asymptotically converge to zero by Lyapunov stability theory. Unlike the traditional backstepping method suffering from the speed jump problem, the application of bio-inspired model can generate smooth and continuous velocity signal. Therefore, a smooth control signal can be obtained by dynamic controller without thruster control saturation. The effectiveness and robustness of the proposed control strategy are demonstrated through simulations and comparison studies.

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