@article{CHEN2022, 
author = {Haohua CHEN and Hong ZHAO and Ning WANG and Chen GUO and Ting LU and Ning WANG},
title = {Accurate track control of unmanned underwater vehicle under complex disturbances},
year = {2022},
journal = {Chinese Journal of Ship Research},
volume = {17},
number = {2},
pages = {98-108},
keywords = {finite-time disturbance observer, 3D trajectory tracking, unmanned underwater vehicle, step disturbance, non-singular terminal sliding mode, backstepping sliding mode},
url = {https://www.sciopen.com/article/10.19693/j.issn.1673-3185.02236},
doi = {10.19693/j.issn.1673-3185.02236},
abstract = {ObjectivesThis 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.MethodsA 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.ResultsThe 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.ConclusionsThe results of this paper can provide a solution for accurately tracking the 3D trajectories of unmanned underwater vehicles.}
}