Robust fixed-time tracking control for underactuated AUVs based on fixed-time disturbance observer

This paper investigates the fixed-time trajectory tracking control problem of underactuated autonomous underwater vehicles (AUVs) subject to external disturbances. The backstepping control technique and fixed -time control method are integrated to guarantee that the trajectory of the AUV converges to the reference trajectory within a fixed-time. A continuous fixed-time disturbance observer is developed to estimate the unknown external disturbances. A nonlinear first-order filter is applied to avoid the adverse effect of explosion of complexityinherent in the conventional backstepping. Theoretical analyses demonstrate that under the fixed-time backstepping controller, the tracking errors of the AUV will converge towards a residual set in fixed time. Simulation results illustrate the effectiveness and superiority of the proposed control method.

Automated summary

This paper investigates the problem of fixed-time trajectory tracking control of underactuated autonomous underwater vehicles subject to external disturbances. The backstepping control technique and fixed-time control method are integrated to ensure the convergence of the vehicle's trajectory to a reference trajectory within a fixed time. A continuous fixed-time disturbance observer is developed to estimate the unknown external disturbances, and a nonlinear first-order filter is applied to avoid the adverse effects of complexity inherent in conventional backstepping. Theoretical analyses show that the proposed fixed-time backstepping controller can drive the tracking errors of the vehicle to a residual set in fixed time. Simulation results demonstrate the effectiveness and superiority of the proposed control method.