The Attitude Tracking Robust Controller for Supercavitating Vehicle Based on Backstepping Method

DOI

10.2991/icmii-15.2015.5How to use a DOI?

Keywords

Underwater high-speed vehicle; Adaptive algorithm; Stability control; Variable structure control .

Abstract

The unique characteristics of the supercavitating vehicles is different from the traditional underwater vehicles. For the supercavitating vehicles with nonlinear time-delay dynamics model which containing unmatched uncertainties, the backstepping attitude tracking controller is designed based on backstepping control, adaptive control and sliding mode control. The uncertain factors were estimated by using the adaptive algorithm, and the robustness of the system with uncertainties and external disturbance was improved by using variable structure control. The simulation results show that the system responds rapidly and it has good stability, which shows that the designed controller can be applied to the stability control of underwater high-speed vehicles.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chengbin Lian
AU  - Xueyan Jing
AU  - Yongjun Hao
AU  - Xianping Tang
PY  - 2015/10
DA  - 2015/10
TI  - The Attitude Tracking Robust Controller for Supercavitating Vehicle Based on Backstepping Method
BT  - Proceedings of the 3rd International Conference on Mechatronics and Industrial Informatics
PB  - Atlantis Press
SP  - 23
EP  - 28
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmii-15.2015.5
DO  - 10.2991/icmii-15.2015.5
ID  - Lian2015/10
ER  -