Journal Article

Design and Analysis of a New AUV＇s Sliding Control System Based on Dynamic Boundary Layer

GAO Fudong PAN Cunyun HAN Yanyan

2013

Overview

The new AUV driven by multi-vectored thrusters not only has unique kinematic characteristics during the actual cruise but also exists uncertain factors such as hydrodynamic coefficients perturbation and unknown interference of tail fluid, which bring difficult to the stability of the AUV＇s control system. In order to solve the nonlinear term and unmodeled dynamics existing in the new AUV＇s attitude control and the disturbances caused by the external marine environment, a second-order sliding mode controller with double-loop structure that considering the dynamic characteristics of the rudder actuators is designed, which improves the robustness of the system and avoids the control failure caused by the problem that the design theory of the sliding mode controller does not match with the actual application conditions. In order to avoid the loss of the sliding mode caused by the amplitude and rate constraints of the rudder actuator in the new AUV＇s attitude control, the dynamic boundary layer method is used to a

• Subject: 姿态控制 / 滑动模式控制 / 滑模控制器 / 滑模控制系统 / 自主水下机器人 / 计算结果 / 设计理论 / 边界层厚度