Affiliation:
1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
2. The Second Wuhan Ship Design and Research Institute, Wuhan 430205, China
Abstract
This paper proposes a trajectory tracking control scheme consisting of a fast finite-time super-twisting sliding mode control (FSTSMC) approach and an extended state higher-order sliding mode observer (ESHSMO) for unmanned underwater vehicles (UUVs) with external disturbances and model uncertainties. Firstly, an extended state higher-order sliding mode observer with the finite-time convergence is designed based on the higher-order sliding mode technique and the extended state observer technique. Next, on the basis of disturbances and model uncertainties observation, a fast finite-time super-twisting sliding mode control approach is proposed, and the finite time stabilization property of the tracking errors is proved by Lyapunov theory. Finally, through numerical simulation and experiment in a water pool, it has been verified that the proposed control scheme has achieved the high control precision, the smaller chattering, the disturbance compensation and the fast finite-time convergence in UUV trajectory tracking.
Funder
National Science Foundation of China
Fundamental Research Funds for the Central Universities
111 Project
Subject
Artificial Intelligence,Computer Science Applications,Aerospace Engineering,Information Systems,Control and Systems Engineering