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Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control

  • Mechanical Engineering, Control Science and Information Engineering
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Abstract

The problem of diving control for an underactuated unmanned undersea vehicle (UUV) considering the presence of parameters perturbations and wave disturbances was addressesed. The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving. To stabilize the vertical motion system, the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control (IFTSMC). It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface. With a unified control parameters for different motion states, a series of numerical simulation results illustrate the effectiveness of the above designed control scheme, which also shows strong robustness against parameters perturbations and wave disturbances.

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Authors and Affiliations

  1. College of Automation, Harbin Engineering University, Harbin, 150001, China

    Zhe-ping Yan  (严浙平) & Hao-miao Yu  (于浩淼)

  2. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

    Shu-ping Hou  (侯恕萍)

Authors
  1. Zhe-ping Yan  (严浙平)
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  2. Hao-miao Yu  (于浩淼)
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  3. Shu-ping Hou  (侯恕萍)
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Corresponding author

Correspondence to Hao-miao Yu  (于浩淼).

Additional information

Foundation item: Projects (51179038, 51309067) supported by the National Natural Science Foundation of China

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Yan, Zp., Yu, Hm. & Hou, Sp. Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control. J. Cent. South Univ. 23, 1085–1094 (2016). https://doi.org/10.1007/s11771-016-0358-7

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  • DOI: https://doi.org/10.1007/s11771-016-0358-7

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