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.
引用
收藏
页数：6
相关论文
共 50 条
  • [21] Trajectory tracking control with predefined dynamic performance for underactuated autonomous underwater vehicle
    Li, Xiaobin
    Xu, Dong
    Yang, Xue
    [J]. Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2024, 46 (09): : 3185 - 3197
  • [22] Obstacle Avoidance Trajectory Planning and Trajectory Tracking Control for Autonomous Underwater Vehicles
    Chu, Zhenzhong
    Zhu, Daqi
    [J]. 2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2018, : 450 - 454
  • [23] Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles
    Xu, Jian
    Wang, Man
    Qiao, Lei
    [J]. OCEAN ENGINEERING, 2015, 105 : 54 - 63
  • [24] Adaptive Asymptotic Tracking Control for Underactuated Autonomous Underwater Vehicles With State Constraints
    Yang, Xian
    Yan, Jing
    Chen, Chuanzhi
    Hua, Changchun
    Guan, Xinping
    [J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2024,
  • [25] Receding Horizon Formation Tracking Control of Constrained Underactuated Autonomous Underwater Vehicles
    Li, Huiping
    Xie, Pan
    Yan, Weisheng
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2017, 64 (06) : 5004 - 5013
  • [26] Line-of-sight target tracking control of underactuated autonomous underwater vehicles
    Shojaei, Khoshnam
    Dolatshahi, Mehdi
    [J]. OCEAN ENGINEERING, 2017, 133 : 244 - 252
  • [27] Path Tracking Control for Underactuated Autonomous Underwater Vehicles Using Approach Angle
    Kim, Kyoung Joo
    Park, Jin Bae
    Choi, Yoon Ho
    [J]. IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, 2012, E95A (04) : 760 - 766
  • [28] Trajectory tracking control for underactuated autonomous vehicles via adaptive dynamic programming
    Han, Xiumei
    Zhao, Xudong
    Xu, Xiaolu
    Mei, Congli
    Xing, Wei
    Wang, Xinwei
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2024, 361 (01): : 474 - 488
  • [29] Finite-time prescribed performance control for the three-dimension trajectory tracking of underactuated autonomous underwater vehicles
    Du, Jia-Lu
    Li, Jian
    [J]. Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2022, 39 (02): : 383 - 392
  • [30] An efficient hybrid approach for trajectory tracking control of autonomous underwater vehicles
    Kumar, Naveen
    Rani, Manju
    [J]. APPLIED OCEAN RESEARCH, 2020, 95
12345