文献类型：期刊文献

英文题名：Adaptive Backstepping Sliding Mode Tracking Control For Autonomous Underwater Vehicles With Input Quantization

作者：An, Shun[1];Wang, Longjin[1];He, Yan[1];Yuan, Jianping[2]

机构：[1]Qingdao Univ Sci & Technol, Coll Electromech Engn, Qingdao 266061, Peoples R China;[2]Guangdong Ocean Univ, Coll Ocean Engn, Zhanjiang 524088, Peoples R China

年份：2022

卷号：5

期号：4

外文期刊名：ADVANCED THEORY AND SIMULATIONS

收录：SCI-EXPANDED(收录号：WOS:000746510800001)、、EI(收录号：20220511546846)、Scopus(收录号：2-s2.0-85123470549)、WOS

基金：This work was supported by the National Natural Science Foundation of China (No. 52176076), Guangdong Province in 2019 Ordinary University Key Areas Special Project (No. 2019KZDZX1024), Taishan Scholar Foundation of Shandong Province (No. ts20190937), and State Administration of Science, Technology and Industry for National Defense (No. JCKYS2021SXJQR-02).

语种：英文

外文关键词：autonomous underwater vehicles; backstepping control technique; input quantization; sliding mode method; trajectory tracking

外文摘要：This paper proposes an adaptive backstepping sliding mode control (ABSMC) scheme for autonomous underwater vehicles (AUVs) subject to the dynamic uncertainty, external disturbance and quantization error. The control input signals including control forces and moment are quantized by a hybrid quantizer which is the combinination of a logarithmic quantizer and a uniform quantizer. The kinematic controller is designed by the backstepping control technique and the dynamic controller is developed using the sliding mode control method. In order to further improve the robustness of the closed-loop system, an adaptive law is employed to estimate the upper bound of the total uncertainties in real time. The stability of the closed-loop system is proved based on the Lyapunov theory and indicates that the proposed control method can force the AUV to track the desired trajectory. Simulation results demonstrate the effectiveness of the proposed control strategy.