학술논문
Adaptive Backstepping Sliding Mode Control for Underwater Glider Trajectory Tracking Based on Nonlinear Disturbance Observer
Document Type
Conference
Author
Source
2023 China Automation Congress (CAC) Automation Congress (CAC), 2023 China. :5465-5470 Nov, 2023
Subject
Language
ISSN
2688-0938
Abstract
An adaptive backstepping dynamic surface sliding mode controller based on nonlinear disturbance observer (NDOABSMC) is designed to track zigzag motion of underwater glider (UG). Firstly, a nonlinear disturbance observer is devised to observe ocean current. Then, the backstepping sliding mode control is used to devise motion attitude controller of UG to ensure that UG can track the target trajectory quickly. Additionally, the stability of UG's control system is analyzed. In the end, the proposed control strategy is compared with other approaches.