| Path Following Control of A Deep-Sea Manned Submersible Based upon NTSM |
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| 引用本文： | 马岭 崔维成. Path Following Control of A Deep-Sea Manned Submersible Based upon NTSM[J]. 中国海洋工程, 2005, 19(4): 625-636 |
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| 作者姓名： | 马岭 崔维成 |
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| 作者单位： | [1]School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Slanghai 200030, China [2]China Ship Scientific Research Center, Wuxi 214082, China |
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| 基金项目： | The paper was financially supported by the National High Technology Research and Development Program of China （863 Program） （Grant No. 2002AA401002） |
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| 摘 要： | In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible.
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| 关 键 词： | 终端滑动模型 鲁棒性 潜水器 路径控制 潜水技术 |
| 收稿时间： | 2005-06-29 |
| 修稿时间： | 2005-09-20 |
Path Following Control of A Deep-Sea Manned Submersible Based upon NTSM |
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| MA Ling , CUI Wei-cheng. Path Following Control of A Deep-Sea Manned Submersible Based upon NTSM[J]. China Ocean Engineering, 2005, 19(4): 625-636 |
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| Authors: | MA Ling CUI Wei-cheng |
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| Abstract: | In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode (NTSM) is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov's stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible. |
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| Keywords: | path following deep-sea manned submersible terminal sliding mode control robustness |
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