Adaptive Backstepping Sliding Mode Attitude Control for AUVs Subject to Model Errors and Unknown Disturbances

This paper describes a novel adaptive backstepping sliding mode control (ABSMC) algorithm for a compact autonomous underwater vehicle subject to model errors and unknown disturbances. The closed-loop stability of the control system is demonstrated using the Lyapunov direct method. Simulation results...

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Published inOCEANS 2022, Hampton Roads pp. 1 - 5
Main Authors Yang, W. C., Du, P. Z., Hu, R. Y., Wang, Y. Q., Xu, D. W., Huang, S. H.
Format Conference Proceeding
LanguageEnglish
Published IEEE 17.10.2022
Subjects
Adaptation models
adaptive control
Attitude control
Autonomous underwater vehicles
Backstepping
Oceans
Roads
Simulation
sliding mode control
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Abstract This paper describes a novel adaptive backstepping sliding mode control (ABSMC) algorithm for a compact autonomous underwater vehicle subject to model errors and unknown disturbances. The closed-loop stability of the control system is demonstrated using the Lyapunov direct method. Simulation results are presented to show the effectiveness of the proposed control method. Furthermore, extensive experimental results show that the proposed algorithm outperforms sliding mode controllers (SMC) in terms of control performance and adaptability to changing system state.
AbstractList This paper describes a novel adaptive backstepping sliding mode control (ABSMC) algorithm for a compact autonomous underwater vehicle subject to model errors and unknown disturbances. The closed-loop stability of the control system is demonstrated using the Lyapunov direct method. Simulation results are presented to show the effectiveness of the proposed control method. Furthermore, extensive experimental results show that the proposed algorithm outperforms sliding mode controllers (SMC) in terms of control performance and adaptability to changing system state.
Author Du, P. Z.
Yang, W. C.
Xu, D. W.
Hu, R. Y.
Wang, Y. Q.
Huang, S. H.
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  givenname: S. H.
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  email: davidhuang@zju.edu.cn
  organization: Zhejiang University,Ocean College,Zhoushan,China
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Snippet This paper describes a novel adaptive backstepping sliding mode control (ABSMC) algorithm for a compact autonomous underwater vehicle subject to model errors...
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SubjectTerms Adaptation models
adaptive control
Attitude control
Autonomous underwater vehicles
Backstepping
Oceans
Roads
Simulation
sliding mode control
Title Adaptive Backstepping Sliding Mode Attitude Control for AUVs Subject to Model Errors and Unknown Disturbances
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