Coordinated depth control of multiple autonomous underwater vehicles by using theory of adaptive sliding mode
type: Item
instance of: scholarly article
title: Coordinated depth control of multiple autonomous underwater vehicles by using theory of adaptive sliding mode
zbMATH Open document ID: 1407.93270
DOI: 10.1155/2018/4180275
author: Yintao Wang
author: Yani Zhang
published in: Complexity
publication date: 2019-02-19T00:00:00Z
review text: Summary: This paper addresses the coordinated depth control problem of multiple autonomous underwater vehicles, which means to maneuver a group of underwater vehicles which move at the same depth synchronously. Firstly, a coordinated error of depth between vehicles and the common desired depth is defined by using extended graph theory in a distributed manner; then a deep-pitch double loop control algorithm based on sliding mode is designed for each vehicle, by which each vehicle is driven to and move at the common depth coordinately. In particular, a pitch reference command is firstly calculated by the predefined coordinated depth error, which can be regarded as the outer loop control, and then, the input rudder angle for each vehicle is derived according to the pitch reference command being as the inner loop control. Considering the uncertainties of the model hydrodynamic parameters, an online parameter adaptive algorithm is introduced to improve the performance of the sliding mode control algorithm proposed. Simulations were performed to verify the theoretical results proposed.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93A14
Mathematics Subject Classification ID: 93A15
Mathematics Subject Classification ID: 93C40
zbMATH DE Number: 7025157
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/4180275
OpenAlex ID: W2903456741
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Wikidata QID: Q128828538
description: scientific article; zbMATH DE number 7025157