A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics
Abstract 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 bioinspired neural dynamics model. An enhanced backstepping kinematic control strategy is first developed to avoid sharp velo...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-09-01
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| Series: | IET Cyber-systems and Robotics |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/csy2.12060 |
| _version_ | 1811206762720657408 |
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| author | Zhe Xu Tao Yan Simon X. Yang S. Andrew Gadsden |
| author_facet | Zhe Xu Tao Yan Simon X. Yang S. Andrew Gadsden |
| author_sort | Zhe Xu |
| collection | DOAJ |
| description | Abstract 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 bioinspired 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. |
| first_indexed | 2024-04-12T03:53:26Z |
| format | Article |
| id | doaj.art-f1e7ff2414ef41d6aea3620e921f0230 |
| institution | Directory Open Access Journal |
| issn | 2631-6315 |
| language | English |
| last_indexed | 2024-04-12T03:53:26Z |
| publishDate | 2022-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Cyber-systems and Robotics |
| spelling | doaj.art-f1e7ff2414ef41d6aea3620e921f02302022-12-22T03:48:56ZengWileyIET Cyber-systems and Robotics2631-63152022-09-014315316210.1049/csy2.12060A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamicsZhe Xu0Tao Yan1Simon X. Yang2S. Andrew Gadsden3School of Engineering University of Guelph Guelph Ontario CanadaSchool of Engineering University of Guelph Guelph Ontario CanadaSchool of Engineering University of Guelph Guelph Ontario CanadaDepartment of Mechanical Engineering McMaster University Hamilton Ontario CanadaAbstract 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 bioinspired 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.https://doi.org/10.1049/csy2.12060backsteppingbioinspired neural dynamicssliding mode controlunmanned underwater vehicle |
| spellingShingle | Zhe Xu Tao Yan Simon X. Yang S. Andrew Gadsden A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics IET Cyber-systems and Robotics backstepping bioinspired neural dynamics sliding mode control unmanned underwater vehicle |
| title | A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics |
| title_full | A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics |
| title_fullStr | A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics |
| title_full_unstemmed | A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics |
| title_short | A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics |
| title_sort | hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics |
| topic | backstepping bioinspired neural dynamics sliding mode control unmanned underwater vehicle |
| url | https://doi.org/10.1049/csy2.12060 |
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