DocumentCode :
3660185
Title :
3D path-following control for autonomous underwater vehicle based on adaptive backstepping sliding mode
Author :
Zhenzhong Chu;Daqi Zhu
Author_Institution :
College of Information Engineering, Shanghai Maritime University, China
fYear :
2015
Firstpage :
1143
Lastpage :
1147
Abstract :
The three-dimensional (3D) path-following control for autonomous underwater vehicle (AUV) based on adaptive backstepping sliding mode is studied in the paper. First, the design method of kinematics control law is given based on the guidance function. Then, according to the desired yaw angle, pitch angle and surge velocity, the design method of dynamics control law is given based on backstepping sliding mode. For the problem that the AUV dynamic model is unknown in the design of dynamic control law, the adaptive backstepping sliding mode control method based on RBF neural network is proposed, and the selection method of parameter learning rate based on the minimum disturbance thought is given. The simulation results demonstrate the effectiveness of the proposed methods.
Keywords :
"Three-dimensional displays","Neural networks","Backstepping","Kinematics","Adaptive systems","Simulation","Underwater vehicles"
Publisher :
ieee
Conference_Titel :
Information and Automation, 2015 IEEE International Conference on
Type :
conf
DOI :
10.1109/ICInfA.2015.7279458
Filename :
7279458
Link To Document :
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