Fuzzy sliding mode control method for vertical motion of autonomous underwater gliders

参数	数值
固定部分质量${m_{\rm{h}}}$/kg	54.28
可移动部分质量${m_{\rm{p}}}$/kg	11
净浮力${m_{\rm{b}}}$/kg	$- 0.5 \leqslant {m_{\rm{b}}} \leqslant 0.5$
附加质量${M_{\rm{f}}}$	${\text{diag} }[1.48,\;49.58,\;65.92]$
附加惯性矩${I_{\rm{f}}}$	${\text{diag} }[0.53,\;7.88,\;10.18]$
阻力系数	${K_{{\rm{D}}0} } = 7.19,{\kern 1pt} {\kern 1pt} {\kern 1pt} {\kern 1pt} {K_{\rm{D}}} = 386.29$
升力系数	${K_{\rm{L0} } } = - 0.36,{\kern 1pt} {\kern 1pt} {\kern 1pt} {\kern 1pt} {\kern 1pt} {K_{\rm{L}}} = 440.99$
纵倾角惯性系数	${K_{M0}} = 0.28,{\kern 1pt} {\kern 1pt} {\kern 1pt} {\kern 1pt} {\kern 1pt} {K_M} = - 65.84,{\kern 1pt} {\kern 1pt} {\kern 1pt} {\kern 1pt} {\kern 1pt} {K_q} = - 205.64$

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Lei WAN, Dongliang ZHANG, Yanchao SUN, Hongde QIN, Yu CAO. Fuzzy sliding mode control method for vertical motion of autonomous underwater gliders[J]. Chinese Journal of Ship Research, 2022, 17(5): 148

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Paper Information

Category: Ship Design and Performance

Received: Sep. 10, 2021

Accepted: --

Published Online: Mar. 26, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.02521

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology