Fixed-time sliding mode tracking control for autonomous underwater vehicles. (December 2021)

• Record Type: Journal Article
• Authors: Zheng, Jiaqi; Song, Lei; Liu, Lingya; Yu, Wenbin; Wang, Yiyin; Chen, Cailian
• Is Part Of: Applied ocean research. Volume 117(2021)
• Publication Date: 2021-12
• Subjects: Trajectory tracking -- Fixed-time sliding mode control -- Disturbance observer; Ocean engineering -- Periodicals; 620.416205
• DOI: 10.1016/j.apor.2021.102928
• Languages: English
• ISSNs: 0141-1187

Abstract

Abstract: In this paper, a fixed-time sliding mode controller (FSMC) with disturbance observer (DO) is proposed to solve the trajectory tracking control problem for autonomous underwater vehicles (AUVs) under time-varying external disturbances. Firstly, by using the sliding mode control method, an FSMC is proposed for reducing the tracking errors. Secondly, considering the estimation problem of time-varying disturbances, a fixed-time DO is designed to reconstruct the information of the AUV. Finally, The DO can compensate time-varying disturbances and the FSMC can reduce the tracking errors incorporating the information from the DO. Thus, the FSMC-DO for AUV is derived. Compared with the conventional FSMC and the finite time controller, the proposed FSMC-DO not only offers a faster convergence rate but also a higher tracking accuracy and robustness for the trajectory tracking control of AUVs. Simulation results are provided to show the superior performance of the proposed FSMC-DO.