Design of Novel S-plane Controller of Autonomous Underwater Vehicle Established on Sliding Mode Control  

作　　者：Chunmeng Jiang Lei Wan Yushan Sun 

机构地区：[1]Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China

出　　处：《Journal of Harbin Institute of Technology(New Series)》2017年第2期58-64,共7页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National High Technology Research and Development Program of China(Grant Nos.2011AA09A106,2008AA092301);the National Nature Science Foundation of China(Grant Nos.50909025,51009040 and 51179035)

摘　　要：Based on the deep analysis of the mathematical model of an autonomous underwater vehicle( AUV),comprehensive considerations are given to the coupling effect of AUV's longitudinal velocity on the other degrees of freedom. In the meantime,discussions are made on the influence of residual buoyancy and restoring moment.A novel S-plane controller established on sliding mode control( SMC) is hereby proposed in this study. The strengths of traditional S-plane controller including simple structure and easily adjustable parameters are maintained in the improved design while the weakness of unsatisfactory control effect at the time of high-speed operation is also overcome. Lyapunov function is introduced to make the stability analysis of the controller before it is successfully applied to the basic motion control of AUV-X. Then the comparative experiment test is carried out between the traditional S-plane controller and the novel S-plane controller. The effectiveness and feasibility of the novel S-plane controller established on sliding mode control in the AUV basic motion control is verified by the comparative analysis of experiment results.Based on the deep analysis of the mathematical model of an autonomous under^-ater vehicle （ AUV）, comprehensive considerations are given to the coupling effect of AUV,s longitudinal velocity on the other degrees of freedom. In the meantime, discussions are made on the influence of residual buoyancy and restoring moment. A novel S-plane controller established on sliding mode control （SMC） is hereby proposed in this study. The strengths of traditional S-plane controller including simple structure and easily adjustable parameters are maintained in the improved design while the weakness of unsatisfactory control effect at the time of high-speed operation is also overcome. Lyapunov function is introduced to make the stability analysis of the controller before it is successfully applied to the basic motion control of AUV-X. Then the comparative experiment test is carried out between the traditional S-plane controller and the novel S-plane controller. The effectiveness and feasibility of the novel S-plane controller established on sliding mode control in the AUV basic motion control is verified by the comparative analysis of experiment results.

关 键 词：sliding mode control S-plane controller stability analysis Lyapunov function autonomous underwater vehicle 

分 类 号：T[一般工业技术]