A Trajectory Tracking Method using Dynamic Sliding Mode Control with Parameter Optimization for Autonomous Underwater Vehicles

被引：1
|
作者：
Li, Weiliang [1 ,2 ,3 ]
Lai, Xuzhi [1 ,2 ,3 ]
Du, Sheng [1 ,2 ,3 ]
Lu, Chengda [1 ,2 ,3 ]
Wang, Yawu [1 ,2 ,3 ]
Chen, Zonghuan [4 ]
Wu, Min [1 ,2 ,3 ]
机构：
[1] China Univ Geosci, Sch Automat, Wuhan 430074, Peoples R China
[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China
[3] Minist Educ, Engn Res Ctr Intelligent Technol Geo Explorat, Wuhan 430074, Peoples R China
[4] Guangzhou Marine Geol Survey, Guangzhou 511466, Peoples R China
来源：
2023 IEEE 6TH INTERNATIONAL CONFERENCE ON INDUSTRIAL CYBER-PHYSICAL SYSTEMS, ICPS | 2023年
关键词：
trajectory tracking; dynamic surface sliding control; parameter optimization;
D O I：
10.1109/ICPS58381.2023.10128070
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Autonomous underwater vehicles (AUVs) must be able to track a particular trajectory when performing various tasks. Sometimes, the widely used control method in actual marine engineering, the proportional integral derivative (PID) control method cannot meet the accuracy requirements of AUVs' trajectory tracking. In this paper, a dynamic surface sliding mode controller for trajectory tracking is designed. A nonlinear disturbance observer is used to compensate for environmental interference, and an improved particle swarm optimization with dynamic inertia weight is applied to optimize the control parameter. Simulation experiments are based on the mathematical model of an underwater robot BLUEROV2, and the control and optimization algorithms are designed.
引用
收藏
页数：6
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