Finite-time Robust Trajectory Tracking Control of Unmanned Underwater Vehicles

2019 2nd International Conference on Advanced Materials, Intelligent Manufacturing and Automation

Zhu, Pengli^1 ; Liu, Yancheng^1 ; Zhao, Youtao^1 ; Zhou, Jian^2

Marine Engineering College, Dalian Maritime University, Dalian, Liaoning

116026, China^1

Navigation College, Dalian Maritime University, Dalian, Liaoning

116026, China^2

关键词: Complex environments;    Dynamic surface control;    Finite-time tracking control;    Robust trajectory tracking control;    Second-order sliding-mode control;    Strong robustness;    Tracking controls;    Tracking performance;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/569/4/042010/pdf
DOI  :  10.1088/1757-899X/569/4/042010

来源: IOP

【 摘 要 】

In this paper, the finite-time tracking control problem of unmanned underwater vehicle in complex environment is studied. By combining dynamic surface control with second-order sliding mode control, a finite-time dynamic surface sliding mode composite track tracking control scheme is designed. Ensure that the unmanned underwater vehicle track tracking system has high-quality track tracking performance such as fastness, accuracy, strong robustness and limited time convergence. Finally, the simulation experiment and the traditional PD control strategy tracking effect are compared and analyzed to verify the effectiveness and superiority of the proposed track tracking control method.