Research on UUV Rudder Angle Control Method Based on Sliding Mode Control

被引：0
|
作者：
Li, Lin [1 ]
Li, Fengyun [1 ]
Zhan, Zihao [1 ]
Li, Kaiyu [1 ]
Huang, Shuang [1 ]
Yang, Haike [2 ]
机构：
[1] Wuhan Second Ship Design & Res Inst, Wuhan 430025, Peoples R China
[2] Wuhan Univ Technol, Wuhan 430070, Peoples R China
来源：
BIO-INSPIRED COMPUTING: THEORIES AND APPLICATIONS, PT 2, BIC-TA 2023 | 2024年 / 2062卷
关键词：
UUV; Sliding mode control; Rudder Angle controller;
D O I：
10.1007/978-981-97-2275-4_28
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
It is difficult to control the rudder Angle of UUV due to its nonlinear characteristics, dynamic matching, and many interference terms. With the increase of the number and type of uncertainty items, the corresponding system interference of traditional PID controller increases sharply, which limits its application in engineering. In this paper, the rudder Angle control method based on sliding mode control is adopted. By establishing the UUV mathematical model and combining with the backstepping method, the control efficiency can be improved while having strong robustness. The simulation results verify the effectiveness of the proposed control method.
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页码：357 / 367
页数：11
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