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Publishing Language: Chinese

Accurate track control of unmanned underwater vehicle under complex disturbances

Haohua CHEN1, Hong ZHAO1, Ning WANG1,2( ), Chen GUO1, Ting LU1, Ning WANG1
Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China
College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
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Abstract

Objectives

This paper presents a non-singular terminal sliding mode track control method based on a finite-time disturbance observer to solve the problem of accurately tracking and controlling an the 3D trajectory of an unmanned underwater vehicle under complex external disturbances.

Methods

A non-singular terminal sliding mode track controller is designed to ensure that the tracking error converges to zero accurately within a limited time. A finite-time disturbance observer is designed to improve the anti-jamming ability of the system under external multidimensional time-varying disturbances.

Results

The Lyapunov function is used to prove that the designed control strategy can remain stable for a limited time. MATLAB is used for the simulation experiment, and a comparison with the backstepping sliding mode control method under step disturbance shows that the method presented in this paper achieves accurate trajectory tracking.

Conclusions

The results of this paper can provide a solution for accurately tracking the 3D trajectories of unmanned underwater vehicles.

Keywords

unmanned underwater vehicle3D trajectory trackingfinite-time disturbance observerstep disturbancenon-singular terminal sliding modebackstepping sliding mode
CLC number: U674.941 Document code: A

References

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Chinese Journal of Ship Research
Volume 17 Issue 2,
February 2022
Pages 98-108
DOI: 10.19693/j.issn.1673-3185.02236

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Cite this article:
CHEN H, ZHAO H, WANG N, et al. Accurate track control of unmanned underwater vehicle under complex disturbances. Chinese Journal of Ship Research, 2022, 17(2): 98-108. https://doi.org/10.19693/j.issn.1673-3185.02236

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Received: 23 December 2020
Revised: 18 March 2021
Published: 06 April 2022
© 2022 Chinese Journal of Ship Research.