中圖分類號(hào)： TN911.23；TP13
文獻(xiàn)標(biāo)識(shí)碼： A
DOI：10.16157/j.issn.0258-7998.2017.07.030
中文引用格式： 劉青,，黃茹楠,，陳勇，等. 水下航行器智能航向滑?？刂芠J].電子技術(shù)應(yīng)用,，2017，43(7)：117-121.
英文引用格式： Liu Qing,，Huang Runan,，Chen Yong，et al. Intelligent sliding mode control for underwater vehicle[J].Application of Electronic Technique,，2017,，43(7)：117-121.

Intelligent sliding mode control for underwater vehicle

Abstract： To achieve the Autonomous Underwater Vechile(AUV)’s course tracking stably, a method of adaptive backstepping Sliding Mode Control(SMC) control algorithm based on disturbance observer is put forward. In view of the interference of diffenent degrees of water flow in the pool, a disturbance observer is used to observe the uncertainties and extern interfence. An adaptive sliding mode controller is designed to compensate for partial interference that is not observed. The proposed controller can eliminate the chattering phenomenon and guarantee the stability of the closed-loop system. At the same time, the control system can select intelligent control strategy, by judging the degree of the water flow circulation disturbance, automatically select the appropriate control strategy, and ultimately eliminate the interference, improve the tracking stability and speediness. The simulation results show that control strategy can achieve the course tracking control perfectly, and the tracking error can quickly converge to zero in finite time. The algorithm has strong robustness and good adaptability.

Key words : Autonomous Underwater Vechile(AUV),；disturbance observer,；adaptive backstepping Sliding Mode Control(SMC)