Fixed-Time Sliding-Mode Reaching based Trajectory Tracking Control of Unmanned Underwater Vehicles

被引：4
|
作者：
Ma Chuan [1 ,2 ]
Liu Yan Cheng [1 ]
机构：
[1] Da Lian Maritime Univ, Engn Dept, Dalian, Peoples R China
[2] Qing Dao Mariners Coll, Engn Dept, Qingdao, Peoples R China
来源：
2018 3RD INTERNATIONAL CONFERENCE ON MECHANICAL, CONTROL AND COMPUTER ENGINEERING (ICMCCE) | 2018年
关键词：
Unmanned Underwater Vehicles; Fixed Time; Sliding Mode Reaching Law; Trajectory Tracking;
D O I：
10.1109/ICMCCE.2018.00072
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For the fixed time trajectory tracking problem of unmanned underwater vehicles, a fixed time sliding mode reaching control law is proposed. The scheme combines the fixed time control strategy with the variable-gain sliding mode reaching control law together to guarantee the fixed time stability of the closed-loop system and fixed time convergence of signals. The chattering problem caused by sliding mode control gain is effectively suppressed. Numerical simulations demonstrate that the proposed control scheme can provide the control performance of finite time control, and a further improvement on system fast convergence is also provided.
引用
收藏
页码：316 / 321
页数：6
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