计算机工程与应用2011，Vol.47Issue(27)：239-242,4.DOI:10.3778/j.issn.1002-8331.2011.27.065
非线性迭代滑模的欠驱动AUV路径跟踪控制
Path-following controller for under-actuated AUV of nonlinear iterative sliding mode
摘要
Abstract
For the realization of under-actuated Autonomous Underwater Vehicle(AUV) in unknown disturbance currents under the control of path following, an increment feedback control method based on nonlinear iterative sliding mode control is presented.Using common curve parameters and the serret-frenet coordinate system describes the path tracking error, the equation of AUV horizontal tracking error is established.Incremental sliding mode feedback controller is designed by iterative method without uncertainty parameter of AUV model and current disturbance estimation.The results of simulation experiments show that the controller is easy to be adjusted, can be used in the actual under-actuated AUV to track the desired horizontal path precisely.关键词
欠驱动自治水下机器人/路径跟踪/迭代滑模/曲线参数Key words
under-actuated autonomous underwater vehicle/path-following/iterative sliding mode/curve parameters分类
信息技术与安全科学引用本文复制引用
王璐,张利军,王红滨,贾鹤鸣,杨立新..非线性迭代滑模的欠驱动AUV路径跟踪控制[J].计算机工程与应用,2011,47(27):239-242,4.基金项目
国家自然学基金(the National Natural Science Foundation of China under Grant No.60973028) （the National Natural Science Foundation of China under Grant No.60973028）
教育部博士点基金(No.20102304110003) （No.20102304110003）
中央高校基本科研业务费专项资金资助(No.HEUCF100605). （No.HEUCF100605）
