Fast Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles

被引：0
|
作者：
Qiao, Lei [1 ]
Zhang, Weidong [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
来源：
2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS) | 2018年
基金：
中国国家自然科学基金;
关键词：
Autonomous underwater vehicles (AUVs); fast nonsingular terminal sliding mode control; trajectory tracking control; underactuated;
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
The paper proposes a fast trajectory tracking control strategy for underactuated autonomous underwater vehicles (AUVs) moving in horizontal plane. By expanding the existing nonsingular terminal sliding mode control (NTSMC) approach, a fast NTSMC approach is developed to achieve precise and fast tracking, and meanwhile to afford a faster convergence rate for underactuated AUVs compared with the existing NTSMC approach. Simulations show the superiority of the presented control approach over the existing NTSMC approach in terms of convergence rate.
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收藏
页数：6
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