Course tracking and simulation of unmanned amphibious platform based on adaptive fuzzy sliding mode control

DOI

10.2991/icaees-15.2015.220How to use a DOI?

Keywords

Unmanned amphibious platform; sliding mode control; tracking control;

Abstract

Unmanned amphibious platform (UAP in short) is a complex nonlinear system. It shows plenty of dynamic properties, such as parameter uncertainty and large time-lag, when controlled, which hinders the development of the approaches of exactly course tracking. Motivated by adaptive fuzzy sliding mode control method, a new course tracking method is proposed in this paper. Firstly, UAP’s manipulating response function is established, and then the function is transformed to SISO system based on diffeomorphism. Secondly, course tracking method is established based on adaptive fuzzy sliding mode control method, and its global stability is testified theoretically under the favor of Lyapunov method. In the end, simulation is carried out based on a UAP, and the result illustrates that the approach is stable to disturbances and uncertainties.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Qingge Cai
AU  - Yulong Hua
AU  - Fuyong Cheng
AU  - Xingxing Niu
PY  - 2015/07
DA  - 2015/07
TI  - Course tracking and simulation of unmanned amphibious platform based on adaptive fuzzy sliding mode control
BT  - Proceedings of the 3rd International Conference on Advances in Energy and Environmental Science 2015
PB  - Atlantis Press
SP  - 1181
EP  - 1187
SN  - 2352-5401
UR  - https://doi.org/10.2991/icaees-15.2015.220
DO  - 10.2991/icaees-15.2015.220
ID  - Cai2015/07
ER  -