Paper Info
Title
Finite-time tracking control for autonomous underwater vehicle based on an improved non-singular terminal sliding mode manifold
Abstract
This paper investigates the finite-time tracking problem for autonomous underwater vehicles (AUVs) in the presence of external disturbance and modelling uncertainty. A finite-time tracking control scheme is proposed based on an improved non-singular terminal sliding mode manifold. Firstly, in order to achieve finite-time stability and avoid singular problem, a continuous and smooth non-singular terminal sliding mode manifold is designed based on a piecewise function. And then a continuous control law is designed by indirectly estimating the bound of the general uncertainty, to compensate the external disturbance and modelling uncertainty. Based on the Lyapunov stability analysis, it is verified that the tracking error can converge to a certain range near zero in a finite time. Finally, the proposed control scheme is applied to ODIN AUV and compared with another two finite-time tracking controllers. Simulation results show the effectiveness of the proposed control scheme.
Year
DOI
Venue
2022
10.1080/00207179.2020.1825818
INTERNATIONAL JOURNAL OF CONTROL
Keywords
DocType
Volume
Autonomous underwater vehicle, non-singular terminal sliding mode control, finite-time tracking control, ocean current
Journal
95
Issue
ISSN
Citations 
3
0020-7179
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
xing liu172.20
Mingjun Zhang2206.38
C. Yang329643.66
Baoji Yin401.35