TY  - EJOU
AU  - Deng, Zhigang 
AU  - Chu, Zhenzhong 
AU  - Tousif, Zaman Mohammed 

TI  - Sliding-Mode Control of Unmanned Underwater Vehicle Using Bio-Inspired Neurodynamics for Discrete Trajectories
T2  - Intelligent Automation \& Soft Computing

PY  - 2020
VL  - 26
IS  - 6
SN  - 2326-005X

AB  - 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.
KW  - Bio-inspired neurodynamics; discrete trajectory; slide-mode control; trajectory tracking; unmanned underwater vehicles (UUV)

DO  - 10.32604/iasc.2020.010798