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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. 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.

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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.

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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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