4.7 Article

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

期刊

OCEAN ENGINEERING
卷 266, 期 -, 页码 -

出版社

PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2022.112567

关键词

Autonomous underwater vehicles; Trajectory tracking; Backstepping control; Fixed-time control; Disturbance observer

资金

  1. Taishan Scholar Project of Shan-dong Province, China
  2. National Natural Science Foun-dation of China
  3. [ts20190937]
  4. [52176076]

向作者/读者索取更多资源

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.
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.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.7
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据