Spatial path-following control for underactuated AUVs with parameter perturbation

被引：0

作者：

Guo, Chen ^{[1
]}

Han, Yanan ^{[1
]}

Yu, Haomiao ^{[1
]}

Sun, Junsong ^{[1
]}

机构：

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

来源：

PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年

关键词：

Underactuated AUV; spatial path following; parameter perturbation; nonsingular fast terminal sliding mode;

D O I：

10.23919/chicc.2019.8865135

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 investigates the problem of spatial path following control of underactuated autonomous underwater vehicles (AUVs) with parameter perturbation. The path-following guidance law is established by using line of sight (LOS) and the "virtual vehicle" method. The surge velocity controller, steering controller and diving controller, which can realize path -following with parameter perturbation, are designed by the integral sliding mode control (ISMC) method and fixed-time nonsingular fast terminal sliding mode control (NFTSMC). It is proven that the proposed ISMC and NFTSMC scheme can guarantee that the error signals globally converge to the origin in finite time and in fixed time, respectively. This simulation results show that the spatial straight line path following mission can efficiently be achieved. and there is strong robustness to the parameter perturbation.

引用

页码：3190 / 3195

页数：6