A Disturbance Observer-based Novel Fuzzy SMC Control Scheme for Path Tracking of AUV with Mismatched Disturbances

被引：0

作者：

Li, XiaoGang ^{[1
]}

Wang, Maoyu ^{[1
]}

Ke, Yuan ^{[1
]}

Liu, Yang ^{[1
]}

He, Jiang ^{[1
]}

Liu, Yinghui ^{[2
]}

机构：

[1] Tianfu Xinglonglake Lab, Dept Sci Facil, Chengdu, Peoples R China

[2] Deakin Univ, Sch Informat Technol, Burwood, Australia

来源：

UNMANNED SYSTEMS | 2023年

关键词：

Sliding mode control; autonomous underwater vehicles; disturbance observer; mismatched disturbances; the radial basis function neural networks; DYNAMIC TASK ASSIGNMENT; SLIDING-MODE CONTROL; TRAJECTORY TRACKING; SYSTEM;

D O I：

10.1142/S2301385025500025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new sliding mode control scheme is proposed for the path tracking problem of autonomous underwater vehicles (AUVs) with uncertainty and mismatch interference. Considering the complexity of parameter rectification, a fuzzy logic controller-based system rectification scheme is designed in this paper. In the control system, a disturbance observer (DOB) and a radial basis function neural network (RBFNN) are used to estimate the mismatch disturbance and uncertainty, respectively. In addition, this paper analyzes the conditions for the Liapunov stability of the designed controller and the results show the closed-loop stability of the control system. The control scheme can be applied to the path tracking of underwater robots with rapidly changing trajectories in different driving environments. Finally, a number of comparative experiments are carried out to demonstrate the good performance of the proposed controller.

引用

页数：12

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