Auto Position Control for Unmanned Underwater Vehicle Based on Double Sliding Mode Loops

摘要

To deal with the large speed jump and position overshoot when desired position changes suddenly for UUV in the horizontal plane, an auto position controller based on double sliding mode loops is proposed. In comparison with the conventional control approach, the virtual speed is adopted in the proposed controller designing. Double loops are contained in the designed controller, and sliding mode surface is both contained in the outer loop and inner loop. The outer loop generates the virtual speed of UUV to avoid the large speed jump, while the inner loop realizes the speed tracking and eliminate the error between virtual speed and real speed. To estimate the uncertainty of the UUV's motion model and the environment disturbance, an adaptive law is adopted. The stability of the proposed control method is proven based on Lyapunov stability theory, and the effectiveness of the proposed controller is demonstrated through simulation.