Title :
Cruise Torpedo Horizontal Path Tracking Based on Sliding Model Control
Author :
Shen, Jian-sen ; Zhou, Xu-chang
Author_Institution :
Dept. of weapon Eng., Naval Univ. of Eng., Wuhan, China
Abstract :
According to the characteristics of cruise torpedo horizontal motion, torpedo equation of motion in use is simplified and the linearized model of horizontal motion is established. Combine the strategy of a small AUV trajectory tracking, guidance law and controller based on sliding model control for the cruise torpedo horizontal path tracking is designed. Matlab simulation is made according to the application. The simulation results show that the model and guidance law adopted are satisfying for horizontal path following of cruise torpedo.
Keywords :
missile guidance; mobile robots; path planning; remotely operated vehicles; tracking; underwater vehicles; variable structure systems; AUV; autonomous underwater vehicle; cruise torpedo; horizontal motion; horizontal path tracking; motion equation; sliding model control; Equations; Mathematical model; Simulation; Tracking; Trajectory; Underwater vehicles; cruise torpedo; path tracking; sliding mode control;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2010 2nd International Conference on
Conference_Location :
Nanjing, Jiangsu
Print_ISBN :
978-1-4244-7869-9
DOI :
10.1109/IHMSC.2010.38
