Under-Actuated Motion Control of Haidou-1 ARV Using Data-Driven, Model-Free Adaptive Sliding Mode Control Method
Jixu Li,
Yuangui Tang,
Hongyin Zhao
et al.
Abstract:We propose a data-driven, model-free adaptive sliding mode control (MFASMC) approach to address the Haidou-1 ARV under-actuated motion control problem with uncertainties, including external disturbances and parameter perturbations. Firstly, we analyzed the two main difficulties in the motion control of Haidou-1 ARV. Secondly, in order to address these problems, a MFASMC control method was introduced. It is combined by a model-free adaptive control (MFAC) method and a sliding mode control (SMC) method. The main… Show more
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