Course Control of Unmanned Surface Vehicle Based on Fuzzy Sliding Mode

被引：0
|
作者：
Wang, Chunxin [1 ]
Xie, Shaorong [1 ]
Chen, Huizi [1 ]
Peng, Yan [1 ]
Zhang, Dan [1 ]
机构：
[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200072, Peoples R China
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO) | 2019年
关键词：
SHIP;
D O I：
10.1109/arso46408.2019.8948817
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In order to solve the problem of large course control error of underactuated unmanned surface vehicle (USV), a controller is designed based on sliding mode control algorithm, and the sliding mode surface is optimized by combining fuzzy control algorithm to accelerate error convergence speed and reduce steady-state error. Finally, based on the "Jinghai 8-a" small unmanned measurement vehicle of Shanghai University, the simulation verifies the stability of the USV in course keeping control and its robustness to external disturbances.
引用
收藏
页码：287 / 290
页数：4
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