Open Access iconOpen Access

ARTICLE

crossmark

Sliding-Mode Control of Unmanned Underwater Vehicle Using Bio-Inspired Neurodynamics for Discrete Trajectories

Zhigang Deng1,*, Zhenzhong Chu2, Zaman Mohammed Tousif3

1 Information Engineering College, Shanghai Maritime University, Shanghai, 200135, China
2 Shanghai Engineering Research Center of Intelligent Maritime Search/Rescue and Underwater Vehicles, Shanghai Maritime University, Shanghai, 200135, China
3 The Collective Intelligence and Bionic Robotics Laboratory, Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609-2280, USA

* Corresponding Author: Zhigang Deng. Email: email

Intelligent Automation & Soft Computing 2020, 26(6), 1503-1515. https://doi.org/10.32604/iasc.2020.010798

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 inflection 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.

Keywords


Cite This Article

APA Style
Deng, Z., Chu, Z., Tousif, Z.M. (2020). Sliding-mode control of unmanned underwater vehicle using bio-inspired neurodynamics for discrete trajectories. Intelligent Automation & Soft Computing, 26(6), 1503-1515. https://doi.org/10.32604/iasc.2020.010798
Vancouver Style
Deng Z, Chu Z, Tousif ZM. Sliding-mode control of unmanned underwater vehicle using bio-inspired neurodynamics for discrete trajectories. Intell Automat Soft Comput . 2020;26(6):1503-1515 https://doi.org/10.32604/iasc.2020.010798
IEEE Style
Z. Deng, Z. Chu, and Z.M. Tousif, “Sliding-Mode Control of Unmanned Underwater Vehicle Using Bio-Inspired Neurodynamics for Discrete Trajectories,” Intell. Automat. Soft Comput. , vol. 26, no. 6, pp. 1503-1515, 2020. https://doi.org/10.32604/iasc.2020.010798

Citations




cc Copyright © 2020 The Author(s). Published by Tech Science Press.
This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
  • 1762

    View

  • 1101

    Download

  • 2

    Like

Share Link