Volume 10 Number 3
June 2013
Article Contents
Modeling and Adaptive Sliding Mode Control of the Catastrophic Course of a High-speed Underwater Vehicle. International Journal of Automation and Computing, vol. 10, no. 3, pp. 210-216, 2013. doi: 10.1007/s11633-013-0714-0
Cite as: Modeling and Adaptive Sliding Mode Control of the Catastrophic Course of a High-speed Underwater Vehicle. International Journal of Automation and Computing, vol. 10, no. 3, pp. 210-216, 2013. doi: 10.1007/s11633-013-0714-0

Modeling and Adaptive Sliding Mode Control of the Catastrophic Course of a High-speed Underwater Vehicle

  • Received: 2012-10-18
Fund Project:

This work was supported by Hubei Provincial Natural Science Foundation of China (No. 2012FFC09401).

通讯作者: 陈斌, bchen63@163.com
  • 1. 

    沈阳化工大学材料科学与工程学院 沈阳 110142

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Modeling and Adaptive Sliding Mode Control of the Catastrophic Course of a High-speed Underwater Vehicle

Fund Project:

This work was supported by Hubei Provincial Natural Science Foundation of China (No. 2012FFC09401).

Abstract: The mathematical model of a high-speed underwater vehicle getting catastrophe in the out-of-water course and a nonlinear sliding mode control with the adaptive backstepping approach for the catastrophic course are proposed. The speed change is large at the moment that the high-speed underwater vehicle launches out of the water to attack an air target. It causes motion parameter uncertainties and affects the precision attack ability. The trajectory angle dynamic characteristic is based on the description of the transformed state-coordinates, the nonlinear sliding mode control is designed to track a linear reference model. Furthermore, the adaptive backstepping control approach is utilized to improve the robustness against the unknown parameter uncertainties. With the proposed control of attitude tracking, the controlled navigational control system possesses the advantages of good transient performance and robustness to parametric uncertainties. These can be predicted and regulated through the design of a linear reference model that has the desired dynamic behavior for the trajectory of the high-speed underwater vehicle to attack its target. Finally, some digital simulation results show that the control system can be applied to a catastrophic course, and that it illustrates great robustness against system parameter uncertainties and external disturbances.

Modeling and Adaptive Sliding Mode Control of the Catastrophic Course of a High-speed Underwater Vehicle. International Journal of Automation and Computing, vol. 10, no. 3, pp. 210-216, 2013. doi: 10.1007/s11633-013-0714-0
Citation: Modeling and Adaptive Sliding Mode Control of the Catastrophic Course of a High-speed Underwater Vehicle. International Journal of Automation and Computing, vol. 10, no. 3, pp. 210-216, 2013. doi: 10.1007/s11633-013-0714-0
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