PATH FOLLOWING CONTROL FOR AN UNDER-ACTUATED UUV BASED ON ADAPTIVE SLIDING MODE CONTROL

Wei Zhang, Zhicheng Liang, Xixun Sun, Yanbin Teng, Xiaosong Song, and Zheping Yan

Keywords

Underactuated UUV, path following, adaptive sliding mode, boundary layer, saturation compensation

Abstract

To inhibit chattering while promoting control precision in a sliding mode control (SMC) method, an adaptive quasi-sliding mode control (ASMC) method by using the technology of boundary layers was proposed. This method was used for the path following system of an under-actuated unmanned underwater vehicle in a horizontal plane. Sliding mode controllers were designed with the Sigmoid function. The adaptive laws of the switching gains and boundary layers based on inputs and outputs were developed, which made it unnecessary to derive the bounds of the uncertainties. Stability was verified by Lyapunov’s stability theory. A saturation compensation strategy was used for vertical rudder, which made the rudder angle more realistic. Compared to the SMC method, the chattering was inhibited effectively and following precision was improved at the same time when the ASMC method was used. The results were illustrated with numerical simulations.

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