2020
DOI: 10.1109/access.2020.2979773
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Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV

Abstract: In order to improve path tracking performance of Beaver AUV, a new method for path tracking controller design is proposed basing on variable structure control theory and nonlinear dynamics model of Beaver. Switching surface of variable structure controllers is founded with corresponding error and error derivative of surge displacement and yaw angle. Exponential approach law is adopted to derive control algorithm for surge and yaw in the process of path tracking. Chattering phenomenon is restrained due to adapt… Show more

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Cited by 5 publications
(1 citation statement)
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“…The steering wheel angle of the vehicle obtained by this type of controller is usually related to the heading angle error and lateral error of the vehicle. This method is easy to implement, but it can only achieve the real-time response of the vehicle at low speeds, and is not suitable for tracking control in high-speed conditions [ 1 , 2 ]. When considering complex urban conditions and high-speed traffic environments, the reliability and robustness of the controller of the model are not highly based on kinematics, so a vehicle dynamics model needs to be introduced.…”
Section: Introductionmentioning
confidence: 99%
“…The steering wheel angle of the vehicle obtained by this type of controller is usually related to the heading angle error and lateral error of the vehicle. This method is easy to implement, but it can only achieve the real-time response of the vehicle at low speeds, and is not suitable for tracking control in high-speed conditions [ 1 , 2 ]. When considering complex urban conditions and high-speed traffic environments, the reliability and robustness of the controller of the model are not highly based on kinematics, so a vehicle dynamics model needs to be introduced.…”
Section: Introductionmentioning
confidence: 99%