[1]LIAO Yulei,ZHUANG Jiayuan,PANG Yongjie,et al.Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet[J].CAAI Transactions on Intelligent Systems,2012,7(3):246-250.
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Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 7 Number of periods: 2012 3 Page number: 246-250 Column: 学术论文—智能系统 Public date: 2012-06-25
Title:
Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet
Author(s):
LIAO Yulei1;  ZHUANG Jiayuan1;  PANG Yongjie1;  DU Xin2
1.National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China;
2.Army Aviation Institute, Beijing 100020, China
Keywords:
single waterjet;  unmanned planning craft;  course control;  sliding mode control;  backstepping method
CLC:
TP273;U664
DOI:
-
Abstract:
The coursetracking nonlinear control problem of an unmanned planning craft with single waterjet was addressed in this paper. Based on motion stability analysis of the unmanned planning craft, the system had automatic stability on the horizontal plane. Considering the motion response model affected by of the modeling errors and external disturbances， an adaptive sliding mode control law was proposed via the sliding mode control theory and backstepping method. By means of the Lyapunov function, it was proven that the proposed control law can render the coursetracking system globally asymptotically stable at the origin. Simulations results illustrate the effectiveness of the proposed method. 
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