Paper Info
Title
A Bio-Inspired Cascaded Approach For Three-Dimensional Tracking Control Of Unmanned Underwater Vehicles
Abstract
In this paper, a bin-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 bin-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 bin-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.
Year
DOI
Venue
2014
10.2316/Journal.206.2014.4.206-3891
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
Keywords
Field
DocType
Unmanned underwater vehicles, tracking control, Lyapunov stability theory, backstepping, bin-inspired model, sliding mode control
Control engineering,Engineering,Underwater
Journal
Volume
Issue
ISSN
29
4
0826-8185
Citations 
PageRank 
References 
6
0.52
0
Authors
3
Name
Order
Citations
PageRank
Bing Sun18211.44
Daqi Zhu225026.77
Simon X. Yang31029124.34