Decoupled Planes’ Non-Singular Adaptive Integral Terminal Sliding Mode Trajectory Tracking Control for X-Rudder AUVs under Time-Varying Unknown Disturbances

Author:

Yuan ChengrenORCID,Shuai Changgeng,Fang Yuan,Ma Jianguo

Abstract

This paper analyzes the trajectory tracking problem in decoupled planes for X-rudder AUVs under time-varying, unknown environmental interferences. The proposed scheme consists of the kinematic control law based on the compound line-of-sight guidance law and the dynamic control law based on a non-singular adaptive integral terminal sliding mode control (NAITSMC) to avoid the chattering problems, parameter perturbation, and time-varying disturbances. Meanwhile, we introduce a reduced-order extended state observer (RESO) to compensate for unknown ocean currents by the first-order Gauss–Markov process. We verify the whole system of the proposed scheme through global asymptotic stability, then present a set of numerical simulations revealing robustness and adaptability performances in decoupled planes.

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

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