Fixed‐time extended state observer‐based trajectory tracking control for autonomous underwater vehicles. Issue 2 (21st October 2021)

• Record Type: Journal Article
• Authors: Zheng, Jiaqi; Song, Lei; Liu, Lingya; Yu, Wenbin; Zhu, Shanying; Wang, Yiyin; Chen, Cailian
• Is Part Of: Asian journal of control. Volume 24:Issue 2(2022)
• Page Start: 686
• Page End: 701
• Publication Date: 2021-10-21
• Subjects: fixed‐time extended state observer -- time‐varying external disturbances -- trajectory tracking; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.2624
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: In this paper, we investigate the trajectory tracking control problem for autonomous underwater vehicles (AUVs) with time‐varying external disturbances of currents and waves in the sea. To solve the problem, a fixed‐time extended state observer (FTESO)‐based tracking controller is proposed. Firstly, by using the extended state observer, the FTESO is proposed for estimating the external disturbances and the velocities of the AUV within the fixed convergence time. Based on the FTESO, the fixed‐time controller is proposed for reducing the tracking errors and improving robustness performance. Theoretical analysis is given, which shows that the unknown external disturbances can be compensated and tracking error can converge to zero within the fixed time. Simulation results show that the proposed FTESO controller not only guarantees the fixed‐time convergence but also reduces the trajectory tracking errors of the AUV.