Name
Title | ||
|---|---|---|
A Bioinspired Filtered Backstepping Tracking Control of 7000-m Manned Submarine Vehicle |
Abstract | ||
|---|---|---|
In this paper, a new approach of tracking control is investigated for the 7000-m Jiaolong manned submarine vehicle (MSV). First, the formulation of control allocation problem and some background information about tracking control of the 7000-m Jiaolong MSV are presented. Then, a kinematic controller is derived. The filter design using bioinspired model is employed to handle the speed jump problem and to make sure that each thruster is within the saturation limit. The kinematic controller is then extended to incorporate a sliding-mode control technique to complete the dynamic control. The system stability is guaranteed, and tracking errors asymptotically converge to zero by Lyapunov stability theory. Another interesting phenomenon is that the bioinspired method can achieve more satisfactory tracking result with a less control effort compared to a typical backstepping method. Finally, simulations illustrate the performance of the derived cascaded tracking control technique. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/TIE.2013.2267698 | IEEE Transactions on Industrial Electronics |
Keywords | Field | DocType |
jiaolong msv,kinematic controller,manned submarine vehicle (msv),cascaded tracking control technique,bioinspired filtered backstepping tracking control,bioinspired model,saturation limit,asymptotic stability,system stability,marine control,thruster,cascade control,lyapunov stability theory,sliding-mode control technique,jiaolong manned submarine vehicle,backstepping,control nonlinearities,filter design,dynamic control,size 7000 m,hydrodynamics,speed jump problem,tracking errors,vehicle dynamics,sliding-mode control,lyapunov methods,variable structure systems,underwater vehicles,tracking control,sliding mode control | Backstepping,Control theory,Submarine,Lyapunov stability,Control engineering,Vehicle dynamics,Exponential stability,Engineering,Jump,Filter design,Sliding mode control | Journal |
Volume | Issue | ISSN |
61 | 7 | 0278-0046 |
Citations | PageRank | References |
24 | 0.94 | 16 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bing Sun | 1 | 82 | 11.44 |
| Daqi Zhu | 2 | 250 | 26.77 |
| Simon X. Yang | 3 | 1029 | 124.34 |