Open Access

ARTICLE

Sliding-Mode Control of Unmanned Underwater Vehicle Using Bio-Inspired Neurodynamics for Discrete Trajectories

Zhigang Deng^1,*, Zhenzhong Chu², Zaman Mohammed Tousif³

1 Information Engineering College, Shanghai Maritime University, Shanghai, 200135, China
2 Shanghai Engineering Research Center of Intelligent Maritime Search/Rescue and Underwater Vehicles, Shanghai Maritime University, Shanghai, 200135, China
3 The Collective Intelligence and Bionic Robotics Laboratory, Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609-2280, USA

* Corresponding Author: Zhigang Deng. Email:

Intelligent Automation & Soft Computing 2020, 26(6), 1503-1515. https://doi.org/10.32604/iasc.2020.010798

Received 04 October 2019; Accepted 30 July 2020; Issue published 24 December 2020

Abstract

Trajectory tracking control can be considered as one of the main researches of unmanned underwater vehicles (UUV). The bio-inspired neurodynamics model was used to make the output continuous and smooth for the inflection points to deal with the speed jump of the conventional tracking controller for discrete trajectories. A horizon-plane trajectory tracking control law is designed using the bio-inspired neurodynamics model and sliding-mode method without chattering. Finally, the simulation of the mentioned two methods is compared with the results showing this as effective and feasible.

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Citations