A Sliding Mode PID Control with Backstepping for Underactuated AUV in Diving Plane
2012 ◽
Vol 220-223
◽
pp. 1142-1147
Keyword(s):
For diving control of autonomous underwater vehicle (AUV), a sliding-mode PID control with backstepping is proposed. First, an equivalent model of AUV is developed. Then, the sliding mode control with an PID sliding surface is proposed for the trajectory tracking control of AUV. Moreover, the analysis of stability can be completed by Lyapunov stability theory. Finally, To validate the proposed control scheme, the simulation results are illustrated in this paper. Simulation results show that, the tracking precision and the robustness of the system are improved under the proposed control method.
2012 ◽
Vol 220-223
◽
pp. 1148-1152
◽
2020 ◽
Vol 10
(3)
◽
pp. 413-420
◽
2021 ◽
Vol 2066
(1)
◽
pp. 012026
2013 ◽
Vol 846-847
◽
pp. 313-316
◽
Keyword(s):
2009 ◽
Vol 23
(16)
◽
pp. 2021-2034
◽
2011 ◽
Vol 328-330
◽
pp. 2108-2112
2015 ◽
Vol 2015
◽
pp. 1-9
◽
2018 ◽
Vol 1074
◽
pp. 012059
2012 ◽
Vol 200
◽
pp. 459-461
Keyword(s):