Adaptive Non-Singular Terminal Sliding Mode Tracking Control of an UUV Against Disturbances. Issue 31 (2022)

• Record Type: Journal Article
• Authors: Martinez-Perez, V. Sebastian; Sanchez-Calvo, Andres E.; Gonzalez-Garcia, Alejandro; Castañeda, Herman
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 31(2022)
• Page Start: 13
• Page End: 18
• Publication Date: 2022
• Subjects: Unmanned underwater vehicle -- UUV robust control -- non-singular terminal sliding mode control -- adaptive sliding mode; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.10.402
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: A robust design of a trajectory tracker for an unmanned underwater vehicle under the influence of disturbances is addressed in this article. The controller policy is formulated upon an adaptive sliding mode approach, where a manifold of a non-singular terminal sliding mode ensures the tracking errors to converge to a locality close to zero in practical finite-time. Moreover, the adaptation dynamics allow no overestimation of control gains, reducing chattering as well as the control efforts, and maintain robustness against external perturbations with unknown boundaries. Simulation results conducted in a full mathematical model of the craft showcase the performance and feasibility of the suggested method to track the desired references, even with the vehicle subject to water currents.