Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV

Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV

In order to improve path tracking performance of Beaver AUV, a new method for path tracking controller design is proposed basing on variable structure control theory and nonlinear dynamics model of Beaver. Switching surface of variable structure controllers is founded with corresponding error and er...

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Bibliographic Details
Main Authors: Lin-Lin Wang, Li-Xin Pan
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Autonomous underwater vehicle
neuron
path tracking
variable structure control
Online Access:https://ieeexplore.ieee.org/document/9031391/
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spelling doaj-f5d99e9a7ef645d2b27af5fafce61d322021-03-30T01:28:04ZengIEEEIEEE Access2169-35362020-01-018485664857510.1109/ACCESS.2020.29797739031391Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUVLin-Lin Wang0https://orcid.org/0000-0001-5263-1435Li-Xin Pan1https://orcid.org/0000-0001-8296-1611College of Information Engineering, Inner Mongolia University of Technology, Hohhot, ChinaBeijing Institute of Control Engineering, China Academy of Space Technology, Beijing, ChinaIn order to improve path tracking performance of Beaver AUV, a new method for path tracking controller design is proposed basing on variable structure control theory and nonlinear dynamics model of Beaver. Switching surface of variable structure controllers is founded with corresponding error and error derivative of surge displacement and yaw angle. Exponential approach law is adopted to derive control algorithm for surge and yaw in the process of path tracking. Chattering phenomenon is restrained due to adaptive neurons which are used for approaching speed adjusting online. Simulation results of sinusoidal path tracking, circular path tracking and planning path tracking show that tracking precision of Beaver AUV is improved more evidently through variable structure control with adaptive approaching speed compared with variable structure control using fixed approaching speed. The method proposed in this article is effective and feasible.https://ieeexplore.ieee.org/document/9031391/Autonomous underwater vehicleneuronpath trackingvariable structure control
collection DOAJ
language English
format Article
sources DOAJ
author Lin-Lin Wang
Li-Xin Pan
spellingShingle Lin-Lin Wang
Li-Xin Pan
Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV
IEEE Access
Autonomous underwater vehicle
neuron
path tracking
variable structure control
author_facet Lin-Lin Wang
Li-Xin Pan
author_sort Lin-Lin Wang
title Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV
title_short Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV
title_full Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV
title_fullStr Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV
title_full_unstemmed Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV
title_sort adaptive variable structure control with neuron for path tracking of beaver auv
publisher IEEE
series IEEE Access
issn 2169-3536
publishDate 2020-01-01
description In order to improve path tracking performance of Beaver AUV, a new method for path tracking controller design is proposed basing on variable structure control theory and nonlinear dynamics model of Beaver. Switching surface of variable structure controllers is founded with corresponding error and error derivative of surge displacement and yaw angle. Exponential approach law is adopted to derive control algorithm for surge and yaw in the process of path tracking. Chattering phenomenon is restrained due to adaptive neurons which are used for approaching speed adjusting online. Simulation results of sinusoidal path tracking, circular path tracking and planning path tracking show that tracking precision of Beaver AUV is improved more evidently through variable structure control with adaptive approaching speed compared with variable structure control using fixed approaching speed. The method proposed in this article is effective and feasible.
topic Autonomous underwater vehicle
neuron
path tracking
variable structure control
url https://ieeexplore.ieee.org/document/9031391/
work_keys_str_mv AT linlinwang adaptivevariablestructurecontrolwithneuronforpathtrackingofbeaverauv
AT lixinpan adaptivevariablestructurecontrolwithneuronforpathtrackingofbeaverauv
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