Robust adaptive sliding mode control of underactuated autonomous underwater vehicles with uncertain dynamics

2019 ◽  
Vol 173 ◽  
pp. 802-809 ◽  
Author(s):  
Zheping Yan ◽  
Man Wang ◽  
Jian Xu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Uncertain Dynamics ◽  
Robust Adaptive

scholarly journals Finite-time observer based tracking control of uncertain heterogeneous underwater vehicles using adaptive sliding mode approach

2021 ◽  
Author(s):  
Bo Chen ◽  
Yiyi Zhao ◽  
Jiangping Hu ◽  
Bijoy Kumar Ghosh
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Underwater Vehicles ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Uncertain Dynamics ◽  
Consensus Tracking

Abstract In this study, we investigate a finite-time consensus tracking problem for a group of autonomous underwater vehicles (AUVs) with heterogeneous uncertain dynamics. We firstly propose a two-layer distributed control strategy, which consists of an upper-layer distributed observer and a lower-layer controller, without using any global information. Based on Hölder's inequality and the theory of finite-time stability, we develop a distributed finite-time observer for each follower to estimate the position information of a leader (i.e., an exosystem). Based on the sliding mode control method, we design a consensus tracking control scheme for each AUV, by which all follower AUVs can track the leader in finite-time. Secondly, when the parameters in the AUV dynamics are uncertain, we introduce a parameter-adaptive sliding mode control algorithm to improve the control performance. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control algorithms.

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