An integrated backstepping and sliding mode tracking control algorithm for unmanned underwater vehicles
In this paper, an integrated backstepping and sliding mode tracking control algorithm is developed for three-dimensional tracking control of unmanned underwater vehicles (UUV). The proposed control strategy combines with a kinematic controller and dynamic controller together. The kinematic controlle...
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| creator | Bing Sun Daqi Zhu Weichong Li |
| description | In this paper, an integrated backstepping and sliding mode tracking control algorithm is developed for three-dimensional tracking control of unmanned underwater vehicles (UUV). The proposed control strategy combines with a kinematic controller and dynamic controller together. The kinematic controller integrates a bio-inspired model with the backstepping method while the dynamic controller uses robust sliding mode control. Unlike the traditional backstepping method suffering from the speed jump problem, the application of bio-inspired model can generate smooth and continuous velocity signal even in the large initial errors. Therefore, a smooth control signal can be obtained by dynamic controller without thruster control saturation. The effectiveness and efficiency of the proposed control strategy are demonstrated through simulations and comparison studies. |
| doi_str_mv | 10.1109/CONTROL.2012.6334705 |
| format | Conference Proceeding |
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The effectiveness and efficiency of the proposed control strategy are demonstrated through simulations and comparison studies.</description><subject>Backstepping</subject><subject>bio-inspired model</subject><subject>Biological system modeling</subject><subject>Dynamics</subject><subject>Mathematical model</subject><subject>tracking control</subject><subject>Underwater vehicles</subject><subject>Unmanned underwater vehicles</subject><subject>Vectors</subject><subject>Vehicle dynamics</subject><isbn>9781467315593</isbn><isbn>1467315591</isbn><isbn>1467315583</isbn><isbn>9781467315579</isbn><isbn>9781467315609</isbn><isbn>1467315605</isbn><isbn>1467315575</isbn><isbn>9781467315586</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kMlOwzAYhI0QElDyBHDwCzR4yWIfqwooUkUklHvl5XdqSJzKcUG8Pakoc5kZjfQdBqEHSnJKiXxcN2_te7PNGaEsrzgvalJeoFtaVDWnZSn4JcpkLf675Ncom6YPMkvQWgpxg7pVwD4k6KJKYLFW5nNKcDj40GEVLJ56b095GC3gFOf51MwYUhx7rPpujD7tB-zGiI9hUCHMlGOwEL9nYMRfsPemh-kOXTnVT5CdfYHa56d2vVlum5fX9Wq79JKkZcEZgCupqhzTFIhhSlhiQEsttGa2poQUhnOinGW0KiRTpCwrYyqunS4cX6D7P6wHgN0h-kHFn935Gv4L9ABbOQ</recordid><startdate>201209</startdate><enddate>201209</enddate><creator>Bing Sun</creator><creator>Daqi Zhu</creator><creator>Weichong Li</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201209</creationdate><title>An integrated backstepping and sliding mode tracking control algorithm for unmanned underwater vehicles</title><author>Bing Sun ; Daqi Zhu ; Weichong Li</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-432eef51a6f2b1e0c2a8d0ceb9b8bb2d71004c330afd216492a0556cc63bfb4f3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Backstepping</topic><topic>bio-inspired model</topic><topic>Biological system modeling</topic><topic>Dynamics</topic><topic>Mathematical model</topic><topic>tracking control</topic><topic>Underwater vehicles</topic><topic>Unmanned underwater vehicles</topic><topic>Vectors</topic><topic>Vehicle dynamics</topic><toplevel>online_resources</toplevel><creatorcontrib>Bing Sun</creatorcontrib><creatorcontrib>Daqi Zhu</creatorcontrib><creatorcontrib>Weichong Li</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Bing Sun</au><au>Daqi Zhu</au><au>Weichong Li</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>An integrated backstepping and sliding mode tracking control algorithm for unmanned underwater vehicles</atitle><btitle>Proceedings of 2012 UKACC International Conference on Control</btitle><stitle>CONTROL</stitle><date>2012-09</date><risdate>2012</risdate><spage>644</spage><epage>649</epage><pages>644-649</pages><isbn>9781467315593</isbn><isbn>1467315591</isbn><eisbn>1467315583</eisbn><eisbn>9781467315579</eisbn><eisbn>9781467315609</eisbn><eisbn>1467315605</eisbn><eisbn>1467315575</eisbn><eisbn>9781467315586</eisbn><abstract>In this paper, an integrated backstepping and sliding mode tracking control algorithm is developed for three-dimensional tracking control of unmanned underwater vehicles (UUV). The proposed control strategy combines with a kinematic controller and dynamic controller together. The kinematic controller integrates a bio-inspired model with the backstepping method while the dynamic controller uses robust sliding mode control. Unlike the traditional backstepping method suffering from the speed jump problem, the application of bio-inspired model can generate smooth and continuous velocity signal even in the large initial errors. Therefore, a smooth control signal can be obtained by dynamic controller without thruster control saturation. The effectiveness and efficiency of the proposed control strategy are demonstrated through simulations and comparison studies.</abstract><pub>IEEE</pub><doi>10.1109/CONTROL.2012.6334705</doi><tpages>6</tpages></addata></record> |
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| ispartof | Proceedings of 2012 UKACC International Conference on Control, 2012, p.644-649 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Backstepping bio-inspired model Biological system modeling Dynamics Mathematical model tracking control Underwater vehicles Unmanned underwater vehicles Vectors Vehicle dynamics |
| title | An integrated backstepping and sliding mode tracking control algorithm for unmanned underwater vehicles |
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