UUV航迹跟踪的双闭环Terminal滑模控制.pdfVIP

UUV航迹跟踪的双闭环Terminal滑模控制

严浙平;段海璞

【摘要】Thispaperproposesadoubleclosed-loopTerminalslidingmode

controlmethodologywithmodelparametersuncertaintyforthe

trajectorytrackingoffullyactuatedunmannedunderwatervehiclesunder

externalcurrentdisturbances.Firstly,topreventtheproblemoflarge

overshootduringthepositionandorientationcontrolofUUV,theposition

andorientationnegativefeedbackisintroduced,andthereference

velocitiesaredefinedintheouterloop,whichservesasthevirtualcontrol

lawinstabilizingthetrackingerrorsofposi