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- Title
Sliding-Mode Control of Unmanned Underwater Vehicle Using Bio-Inspired Neurodynamics for Discrete Trajectories.
- Authors
Zhigang Deng; Zhenzhong Chu; Tousif, Zaman Mohammed
- 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 infiection 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.
- Subjects
REMOTE submersibles; SUBMERSIBLES; AUTONOMOUS underwater vehicles
- Publication
Intelligent Automation & Soft Computing, 2020, Vol 26, Issue 6, p1503
- ISSN
1079-8587
- Publication type
Article
- DOI
10.32604/iasc.2020.010798