Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances
Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances
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DOI：
10.1080/00207179.2015.1031182
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发表时间：
2015-10-03
影响因子：
2.1
通讯作者：
Yu, Son-cheol
中科院分区：
文献类型：
--
作者：
Kim, Minsung;Joe, Hangil;Yu, Son-cheol
针对存在建模误差和未知环境干扰的自主水下航行器，提出了一种积分滑模控制器（ISMC）。ISMC可有效地补偿航行器的流体动力学和流体静力学参数的不确定性，并排除海浪、潮汐和海流造成的不可预测的扰动影响。ISMC由一个等效控制器和一个切换控制器组成，以抑制参数不确定性和外部干扰，其闭环系统是指数稳定的。通过数值仿真验证了该控制方法的有效性，并利用Cyclops AUV进行了实验测试，验证了该控制方法的可行性。
We propose an integral sliding mode controller (ISMC) to stabilse an autonomous underwater vehicle (AUV) which is subject to modelling errors and often suffers from unknown environmental disturbances. The ISMC is effective in compensating for the uncertainties in the hydrodynamic and hydrostatic parameters of the vehicle and rejecting the unpredictable disturbance effects due to ocean waves, tides and currents. The ISMC is comprised of an equivalent controller and a switching controller to suppress the parameter uncertainties and external disturbances, and its closed-loop system is exponentially stable. Numerical simulations were performed to validate the proposed control approach, and experimental tests using Cyclops AUV were carried out to demonstrate its practical feasibility.