期刊
IEEE ACCESS
卷 9, 期 -, 页码 103407-103418出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3098800
关键词
Mathematical model; Trajectory tracking; Three-dimensional displays; Underwater vehicles; Vehicle dynamics; Kinematics; Propellers; AUV; trajectory tracking control; nonsingular integral terminal sliding mode control
资金
- National Natural Science Foundation of China [91848103]
This paper addresses the 3D trajectory tracking problem of a novel underactuated underwater vehicle with 4 propellers, and demonstrates the effectiveness and robustness of the proposed control algorithm through numerical simulations.
This paper addresses the 3D trajectory tracking problem of a novel underactuated underwater vehicle with 4 propellers. A 5-DOF kinematic and dynamic model of the quadrotor underwater vehicle (QUV) is established based on the underwater vehicle and quadrotor unmanned aerial vehicle movement mechanism. A double-loop control structure is then developed. By constructing a Lyapunov function for the outer-loop controller, a 5-DOF trajectory tracking error equation and a velocity virtual control law are obtained. The inner-loop controller is built based on nonsingular integral terminal sliding mode control (NITSMC). Finally, the effectiveness and robustness of our control algorithm are demonstrated through numerical simulations. In particular, given a smooth, second-order derivable 3D reference trajectory, the QUV can quickly track the trajectory and satisfactorily converges in the neighborhood of the expected value in a finite time via NTISMC, which verifies its superiority compared with the other popular backstepping control (BSC) method.
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