Trajectory Tracking Control of UUV Based on Backstepping Sliding Mode With Fuzzy Switching Gain in Diving Plane
Trajectory Tracking Control of UUV Based on Backstepping Sliding Mode With Fuzzy Switching Gain in Diving Plane
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DOI：
10.1109/access.2019.2953530
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发表时间：
2019
期刊：
影响因子：
3.9
通讯作者：
Zheping Yan;Zewen Yang;Jinzhong Zhang;Jiajia Zhou;Anzuo Jiang;Xue Du
中科院分区：
文献类型：
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作者：
Zheping Yan;Zewen Yang;Jinzhong Zhang;Jiajia Zhou;Anzuo Jiang;Xue Du
考虑到水下环境中时变干扰的实际情况，设计了一种基于模糊切换增益的反步滑模的欠驱动无人水下航行器(UUV)水下探测轨迹跟踪控制方法。首先给出了UUV在潜水平面中的运动方程。其次，设计虚拟控制变量来代替桨距角，避免奇异值现象。结合反步技术，提出了模糊切换滑模控制器。第三，为了减少滑模控制的抖振现象，设计了滑模增益的模糊规则。第四，基于Lyapunov理论和比较原理，证明了UUV闭环跟踪误差系统的全局渐近稳定性。最后，仿真结果证明了所提出的控制器的有效性和鲁棒性。
Considering the actual situation of time-varying interference in the underwater environment, a trajectory tracking control method for an underactuated Unmanned Underwater Vehicle (UUV) underwater exploration based on backstepping sliding mode with fuzzy switching gain is designed in this paper. Firstly, the motion equations of UUV in diving plane are given. Secondly, the virtual control variable is designed to replace the pitch angle to avoid the singular value phenomenon. Combining with the backstepping technique, the fuzzy switching sliding mode controller is proposed. Thirdly, in order to decrease the chattering phenomenon of sliding mode control, the fuzzy rule of sliding mode gain is designed. Fourthly, based on Lyapunov theory and comparison principle, the global asymptotic stability of UUV closed-loop tracking error system is proved. Finally, the simulation results demonstrate the effectiveness and robustness of the proposed controller.