Disturbance observer-based prescribed performance super-twisting sliding mode control for autonomous surface vessels

被引：23

作者：

Zhang, Chang ^{[1
]}

Yu, Shuanghe ^{[1
]}

机构：

[1] Dalian Maritime Univ, Coll Marine Elect Engn, Dalian 116026, Peoples R China

来源：

ISA TRANSACTIONS | 2023年 / 135卷

基金：

中国国家自然科学基金;

关键词：

Autonomous surface vessels (ASVs); Sliding mode control; Disturbance observer; Trajectory tracking; TRAJECTORY TRACKING; SYSTEMS;

D O I：

10.1016/j.isatra.2022.09.025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a disturbance observer-based prescribed performance super-twisting sliding mode control (DOB PPSTSMC) for trajectory tracking of the autonomous surface vessels (ASVs) subject to unknown external disturbances and modeling errors. Both unknown external disturbances and system modeling errors are approximated by the disturbance observer, thus eliminating most of the effect caused by lumped disturbances in the control performance. Based on this, a prescribed performance super-twisting sliding mode controller is explored to further suppress the residual error of disturbance compensation. Prescribed performance constraints are considered in the coming up with the super -twisting sliding mode controller, so that ASVs not only achieve effective tracking of time-varying desired trajectories, but also improve the transient performance of the control system. In addition, the controller is continuous and chatter-free, which has greater practical value. The excellence of the control project design is highlighted through the simulation and comparison results.(c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：13 / 22

页数：10

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