摘要
Tracking control has been a vital research topic in robotics.This paper presents a novel hybrid control strategy for an unmanned underwater vehicle(UUV)based on a bio-inspired neural dynamics model.An enhanced backstepping kinematic control strategy is first developed to avoid sharp velocity jumps and provides smooth velocity commands relative to conventional methods.Then,a novel sliding mode control is proposed,which is capable of providing smooth and continuous torque commands free from chattering.In comparative studies,the proposed combined hybrid control strategy has ensured control signal smoothness,which is critical in real‐world applications,especially for a UUV that needs to operate in complex underwater environments.
基金
This work is supported by the Advanced Robotic Intelligent Systems Laboratory at the University of Guelph under Natural Sciences and Engineering Research Council of Canada(NSERC).
作者简介
Correspondence:Simon X.Yang,School of Engineering,University of Guelph,Guelph,ON N1G 2W1,Canada.Email:syang@uoguelph.ca,https://orcid.org/0000-0002-6888-7993;Zhe Xu,https://orcid.org/0000-0001-7227-640X;Tao Yan,https://orcid.org/0000-0002-4494-9598;S.Andrew Gadsden,https://orcid.org/0000-0003-3749-0878。
