Research on UUV Rudder Angle Control Method Based on Sliding Mode Control
摘要
It is difficult to control the rudder Angle of UUV due to its nonlinear characteristics, dynamic matching, and many interference terms. With the increase of the number and type of uncertainty items, the corresponding system interference of traditional PID controller increases sharply, which limits its application in engineering. In this paper, the rudder Angle control method based on sliding mode control is adopted. By establishing the UUV mathematical model and combining with the backstepping method, the control efficiency can be improved while having strong robustness. The simulation results verify the effectiveness of the proposed control method.