AUV Rolling Motion Control in Inland Rivers Based on Sliding Mode Control Improved by Artificial Immunity Algorithm

Abstract:

In order to enhance AUV motion stability in inland rivers, we introduce a new kind of sliding mode control method which is improved by artificial immunity algorithm. First, AUV motion is analyzed mathematically. Due to the disturbances from both nature and human activities, hydraulics in inland rivers is very complex. Since we concentrate on AUV motion in this paper, we simplify the environmental disturbances to two main kinds of wave forces: shallow water wave and ship wave. Then, a complete AUV rolling motion equation is established containing wave disturbances and moment from propulsion system. We use sliding mode control method to adjust propeller’s motor speed and artificial immunity algorithm to weaken the chattering brought by it. Finally, simulation of this method is carried out through Matlab and it is proved to be effective.

• Periodical: Advanced Materials Research (Volumes 542-543)
• Pages: 1150-1154
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.542-543.1150
• Online since: June 2012
• Authors: Qing Mei Li, Shao Rong Xie, Jun Luo, Jian Fen Shi
• Keywords: Artificial Immunity Algorithm, AUV, Inland Rivers Hydraulics, Sliding Mode Control

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