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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.


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.


Cite This Article

Z. Deng, Z. Chu and Z. Mohammed Tousif, "Sliding-mode control of unmanned underwater vehicle using bio-inspired neurodynamics for discrete trajectories," Intelligent Automation & Soft Computing, vol. 26, no.6, pp. 1503–1515, 2020.


cc 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.
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