Tracking Control of an Autonomous Underwater Vehicle: Higher-Order Sliding Mode Control Approach

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI:10.1109/ICRoM48714.2019.9071866

Fahimeh S Tabataba’i-Nasab, S. Moosavian, A. K. Khalaji

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引用次数: 5

Abstract

Tracking control of autonomous underwater vehicle (AUV) is complicated due to highly nonlinear dynamics, structural and non-structural uncertainties, and inevitable external disturbances. In this study, the control algorithm for tracking operation of AUV in 3D workspace is proposed. This algorithm is based on terminal sliding mode control technique, which leads to fast response, time-limited convergence and robustness against uncertainties and external disturbances. To this end, first the trajectory planning and convergence of position tracking errors is introduced using kinematics model. Next, control laws are developed and the stability of the proposed control lows are analyzed. Finally, the system performance using various control laws of terminal sliding mode tracking control (TSMTC), fast terminal sliding mode tracking control (FTSMTC) and feedback linearizing tracking control (FLTC) are compared. Obtained results show efficiency of the proposed FTSMTC algorithm in accelerating route tracking and reasonable performance in handling disturbances in terms of tracking errors.

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自主水下航行器的跟踪控制:高阶滑模控制方法

由于高度非线性动力学、结构和非结构不确定性以及不可避免的外部干扰，自主水下航行器(AUV)的跟踪控制非常复杂。本文提出了水下机器人在三维工作空间中跟踪操作的控制算法。该算法基于终端滑模控制技术，具有响应速度快、收敛时间有限、对不确定性和外界干扰具有鲁棒性等优点。为此，首先利用运动学模型介绍了位置跟踪误差的轨迹规划和收敛问题。其次，建立了控制律，并分析了所提出的控制下限的稳定性。最后，比较了采用不同控制律的终端滑模跟踪控制(TSMTC)、快速终端滑模跟踪控制(FTSMTC)和反馈线性化跟踪控制(FLTC)的系统性能。实验结果表明，该算法在加速路由跟踪方面具有较好的效果，在处理干扰方面具有较好的跟踪误差。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 7th International Conference on Robotics and Mechatronics (ICRoM)

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