Accurate trajectory tracking control for AUV under state constraints with a rapid stability dimensionality‐augmented state observer

Author:

Wang Jianhui1ORCID,Wang Haoyuan1,Hu Zikai1,Liu Jiarui1,Chen Kairui1ORCID

Affiliation:

1. School of Mechanical and Electrical Engineering Guangzhou University Guangzhou China

Abstract

AbstractA rapid stability dimensionality‐augmented state observer (RSDASO) based event‐driven control strategy is presented for the autonomous underwater vehicle (AUV) trajectory tracking issue, addressing state constraints, model uncertainty, limited communication resources and unknown external time‐varying disturbances. The first step is to develop a fast stability extended state observer to estimate the lumped disturbances and unmeasurable states of the system and ensure the estimation error converges in fixed time. Secondly, a fixed‐time AUV trajectory tracking control method is proposed to ensure that the tracking error of the system converges within a fixed time, based on the mentioned observer. Simultaneously, to reduce the communication resource usage by the system, an event‐triggered mechanism (ETM) is included in the control law. Lastly, simulation experiments verify the effectiveness of the process.

Funder

National Natural Science Foundation of China

Yangcheng Scholars Research Project of Guangzhou

Natural Science Foundation of Guangdong Province

Publisher

Wiley

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