Tracking control for small autonomous underwater vehicles in the Trans-Atlantic Geotraverse hydrothermal field based on the modeling trajectory

This paper investigates the fixed-time trajectory tracking problem of small autonomous underwater vehicles (S-AUVs) in the Trans-Atlantic Geotraverse (TAG) active mound with ocean current, unknown disturbances, model uncertainties, actuator faults, and input saturations. First, the effect of the near-bottom environment of the mound on S-AUVs is analyzed in detail from three issues. Without the upper bound and gradient of lumped uncertainties, a high-order adaptive extended state observer (ESO) is designed. Then, a continuous fixed-time sliding mode manifold is applied to obtain fast convergence performance. In order to realize the fixed-time convergence of tracking errors, an adaptive fault-tolerant trajectory tracking control law with an auxiliary dy-namic system (ADS) is proposed. In addition, the simulated topography of the TAG mound is constructed and the trajectory based on path points is modeled by cubic spline interpolation. The effectiveness and superiority of the proposed algorithm are validated by comprehensive simulations.

Automated summary

This paper investigates the fixed-time trajectory tracking problem of small autonomous underwater vehicles (S-AUVs) in the Trans-Atlantic Geotraverse (TAG) active mound with various challenging factors. The author proposes an adaptive fault-tolerant trajectory tracking control law with an auxiliary dynamic system (ADS), which incorporates a high-order adaptive extended state observer (ESO) and a continuous fixed-time sliding mode manifold. Comprehensive simulations validate the effectiveness and superiority of the proposed algorithm.