Research On Adaptive Sliding Mode Control Of Underwater Vehicle Based On Backstepping Mothod

Unmanned underwater vehicle works in a complex marine environment, its technology and means of environment perception and external monitor are much less compared to land robot, intelligent control technology is one of the core technology of the research and application of underwater vehicle. When robots navigate underwater, some uncertainties of modeling itself and interferences from outside have influences on the vehicle's operations. Therefore, how to intelligently control underwater vehicle accurately demands prompt solution.In this paper, the laboratory has independently developed the "beaver" open-frame underwater vehicle to study the object, Because of uncertainties of modeling and outer interferences, an uncertain item has been introduced to correct errors as to form a more reasonable dynamic model. Off-line identification and model application has been carried out before and after the correction of the model. Comparative analysis of experimental results verify the accuracy of correction model, as well as in the control of the superiority of anti-jamming performance.Motion control model of underwater vehicle is a typical nonlinear system model. Backstepping is a strong tool in the field of nonlinear control. And sliding mode control technology based on Backstepping design method has been widely concerned. This paper aims to explore the underwater vehicle Adaptive Backstepping Sliding-mode control technology, and presents a integrated control method based on Backstepping theory, the result of the simulation experiments verify that the proposed controller can effectively suppress chattering. And the water-tank comparative experiment show that the controller proposed has good controlling and anti-interference performance.For the structural characteristics of the vehicle's control system, a communication method through man-machine interface operation which based on function overloading is presented in the paper. This method shorten the length of the program, and the problem that the program can not normally turn off is solved; a modular programming strategy is used to implement control program module, and the program module has been applied to "Sea-shuttle" underwater vehicle successfully.