Sliding mode control method of remotely operated vehicles based on parameter disturbance model

Pengfei CUI; Junwei TIAN; Jianglong SUN; Xuan WANG

doi:10.19693/j.issn.1673-3185.01756

Journals >Chinese Journal of Ship Research >Volume 16 >Issue 1 >Page 136 > Article

Chinese Journal of Ship Research
Vol. 16, Issue 1, 136 (2021)

Sliding mode control method of remotely operated vehicles based on parameter disturbance model

Pengfei CUI¹, Junwei TIAN^1,2, Jianglong SUN², and Xuan WANG²

Author Affiliations

¹School of Electronic Information Engineering, Xi'an Technological University, Xi'an 710032, China

²School of Mechanical and Electrical Engineering, Xi'an Technological University, Xi'an 710032, China

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DOI: 10.19693/j.issn.1673-3185.01756 Cite this Article

Pengfei CUI, Junwei TIAN, Jianglong SUN, Xuan WANG. Sliding mode control method of remotely operated vehicles based on parameter disturbance model[J]. Chinese Journal of Ship Research, 2021, 16(1): 136 Copy Citation Text

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自由度	位置与姿态	线速度与角速度
纵荡（Surge）	x	u
横荡（Sway）	y	v
垂荡（Heave）	z	w
横摇（Roll）	φ	p
纵摇（Pitch）	θ	q
艏摇（Yaw）	ψ	r

Table 1. Motion parameters of ROV

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