Coordinated Depth Control of Multiple Autonomous Underwater Vehicles by Using Theory of Adaptive Sliding Mode
Joint Authors
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-02
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper addresses the coordinated depth control problem of multiple autonomous underwater vehicles, which means to maneuver a group of underwater vehicles which move at the same depth synchronously.
Firstly, a coordinated error of depth between vehicles and the common desired depth is defined by using extended graph theory in a distributed manner; then a deep-pitch double loop control algorithm based on sliding mode is designed for each vehicle, by which each vehicle is driven to and move at the common depth coordinately.
In particular, a pitch reference command is firstly calculated by the predefined coordinated depth error, which can be regarded as the outer loop control, and then, the input rudder angle for each vehicle is derived according to the pitch reference command being as the inner loop control.
Considering the uncertainties of the model hydrodynamic parameters, an online parameter adaptive algorithm is introduced to improve the performance of the sliding mode control algorithm proposed.
Simulations were performed to verify the theoretical results proposed.
American Psychological Association (APA)
Wang, Yintao& Zhang, Yani. 2018. Coordinated Depth Control of Multiple Autonomous Underwater Vehicles by Using Theory of Adaptive Sliding Mode. Complexity،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1134029
Modern Language Association (MLA)
Wang, Yintao& Zhang, Yani. Coordinated Depth Control of Multiple Autonomous Underwater Vehicles by Using Theory of Adaptive Sliding Mode. Complexity No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1134029
American Medical Association (AMA)
Wang, Yintao& Zhang, Yani. Coordinated Depth Control of Multiple Autonomous Underwater Vehicles by Using Theory of Adaptive Sliding Mode. Complexity. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1134029
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134029