%0 Journal Article
%T Three-dimensional Path Following Control for an Underactuated UUV Based on Nonlinear Iterative Sliding Mode<br>基于非线性迭代滑模的欠驱动UUV三维航迹跟踪控制
%A JIA He-Ming
%A ZHANG Li-Jun
%A CHENG Xiang-Qin
%A BIAN Xin-Qian
%A YAN Zhe-Ping
%A ZHOU Jia-Jia
%A <br>贾鹤鸣
%A 张利军
%A 程相勤
%A 边信黔
%A 严浙平
%A 周佳加
%J 自动化学报
%D 2012
%I 
%X In order to realize the three-dimensional path following control for underactuated (Unmanned underwater vehicle, UUV) under unknown ocean current, a nonlinear iterative sliding mode controller based on engineering decoupling is presented. The path following error equations in three-dimensions are established based on the virtual guide method. Then, a nonlinear feedback controller is designed based on iterative sliding modes, without estimating uncertainties of UUV model and ocean current disturbances. The problem of chattering of the hydroplane is circumvented, and the static error and overshoot are decreased. The results of simulation experiments indicate that the controller is robust against the systemic variations and time-varying current disturbances. Moreover, the parameters are easy to adjust, and the tracking control with high tracking precision can be achieved by the proposed control method.
%K Underactuated unmanned underwater vehicle
%K three-dimensional path tracking
%K nonlinear iterative sliding mode
%K virtual guidance method<br>欠驱动无人水下航行器
%K 三维航迹跟踪
%K 非线性迭代滑模
%K 虚拟向导
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=C9FD3CA4D8B54A3EB380234750A3FA81&yid=99E9153A83D4CB11&vid=16D8618C6164A3ED&iid=0B39A22176CE99FB&sid=51C74DF6A16DA45B&eid=AA5FB09E1F81059E&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=25