Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

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Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances

International Journal of Control ◽

10.1080/00207179.2015.1031182 ◽

2015 ◽

Vol 88 (10) ◽

pp. 2055-2065 ◽

Cited By ~ 35

Author(s):

Minsung Kim ◽

Hangil Joe ◽

Jinwhan Kim ◽

Son-cheol Yu

Keyword(s):

Autonomous Underwater Vehicle ◽

Sliding Mode ◽

Underwater Vehicle ◽

Sliding Mode Controller ◽

Environmental Disturbances ◽

Integral Sliding Mode

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Extended integral sliding mode robust sub-gradient extremum seeking control for tracking trajectory of autonomous underwater vehicle

2020 7th International Conference on Control, Decision and Information Technologies (CoDIT) ◽

10.1109/codit49905.2020.9263845 ◽

2020 ◽

Author(s):

Alejandra Hernandez-Sanchez ◽

Isaac Chairez ◽

Alexander Poznyak

Keyword(s):

Autonomous Underwater Vehicle ◽

Sliding Mode ◽

Underwater Vehicle ◽

Extremum Seeking ◽

Extremum Seeking Control ◽

Integral Sliding Mode ◽

Tracking Trajectory

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Adaptive fuzzy exponential terminal sliding mode controller design for nonlinear trajectory tracking control of autonomous underwater vehicle

International Journal of Dynamics and Control ◽

10.1007/s40435-017-0387-6 ◽

2018 ◽

Vol 6 (4) ◽

pp. 1690-1705 ◽

Cited By ~ 6

Author(s):

G. V. Lakhekar ◽

L. M. Waghmare

Keyword(s):

Trajectory Tracking ◽

Tracking Control ◽

Autonomous Underwater Vehicle ◽

Controller Design ◽

Sliding Mode ◽

Underwater Vehicle ◽

Sliding Mode Controller ◽

Trajectory Tracking Control ◽

Terminal Sliding Mode ◽

Adaptive Fuzzy

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Fixed-Time Trajectory Tracking Control of Autonomous Surface Vehicle with Model Uncertainties and Disturbances

Complexity ◽

10.1155/2020/3281368 ◽

2020 ◽

Vol 2020 ◽

pp. 1-10

Author(s):

Jiawen Cui ◽

Haibin Sun

Keyword(s):

Trajectory Tracking ◽

Tracking Control ◽

Sliding Mode ◽

Fixed Time ◽

Convergence Time ◽

Model Uncertainties ◽

External Disturbances ◽

Trajectory Tracking Control ◽

Integral Sliding Mode ◽

Control Scheme

The issue of fixed-time trajectory tracking control for the autonomous surface vehicles (ASVs) system with model uncertainties and external disturbances is investigated in this paper. Particularly, convergence time does not depend on initial conditions. The major contributions include the following: (1) An integral sliding mode controller (ISMC) via integral sliding mode surface is first proposed, which can ensure that the system states can follow the desired trajectory within a fixed time. (2) Unknown external disturbances are absolutely estimated by means of designing a fixed-time disturbance observer (FTDO). By combining the FTDO and ISMC techniques, a new control scheme (FTDO-ISMC) is developed, which can achieve both disturbance compensation and chattering-free condition. (3) Aiming at reconstructing the unknown nonlinear dynamics and external disturbances, a fixed-time unknown observer (FTUO) is proposed, thus providing the FTUO-ISMC scheme that finally achieves trajectory tracking of ASVs with unknown parameters. Finally, simulation tests and detailed comparisons indicate the effectiveness of the proposed control scheme.

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Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones

International Journal of Computer Games Technology ◽

10.1155/2021/2914190 ◽

2021 ◽

Vol 2021 ◽

pp. 1-10

Author(s):

Pengfei Zhang ◽

Qiyuan Chen ◽

Tingting Yang

Keyword(s):

Trajectory Tracking ◽

Control Strategy ◽

Tracking Control ◽

Dead Zone ◽

Fixed Time ◽

Reference Trajectory ◽

Ground Vehicles ◽

Trajectory Tracking Control ◽

Dead Zones ◽

Autonomous Ground Vehicles

This paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state transformation, the AGV is proved to realize trajectory tracking control under the premise of eliminating guidance deviation. Second, a fixed time dead zone compensation control method is introduced to ensure the yaw angle tracking of the presented guidance. Furthermore, an improved fixed-time disturbance observer is proposed to compensate for the influence of the actuator dead zone on disturbance observation. Finally, the trajectory tracking control strategy is designed, and simulation comparison shows the effectiveness of the compensate method. The CarSim–MATLAB cosimulation shows that the proposed control strategy effectively makes the AGV follow the reference trajectory.

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Adaptive neural sliding mode trajectory tracking control for autonomous underwater vehicle without thrust model

2017 13th IEEE Conference on Automation Science and Engineering (CASE) ◽

10.1109/coase.2017.8256339 ◽

2017 ◽

Cited By ~ 1

Author(s):

Zhenzhong Chu ◽

Daqi Zhu ◽

Chaomin Luo

Keyword(s):

Trajectory Tracking ◽

Tracking Control ◽

Autonomous Underwater Vehicle ◽

Sliding Mode ◽

Underwater Vehicle ◽

Trajectory Tracking Control

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Three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle with a robust adaptive algorithm

Transactions of the Canadian Society for Mechanical Engineering ◽

10.1139/tcsme-2018-0123 ◽

2019 ◽

Vol 43 (2) ◽

pp. 179-188

Author(s):

Yunbiao Jiang ◽

Chen Guo ◽

Haomiao Yu

Keyword(s):

Trajectory Tracking ◽

Tracking Control ◽

Autonomous Underwater Vehicle ◽

Sliding Mode ◽

Three Dimensional ◽

Underwater Vehicle ◽

Trajectory Tracking Control ◽

Terminal Sliding Mode ◽

Uncertain Disturbances ◽

Virtual Velocity

This paper investigates the problem of three-dimensional trajectory tracking control for an underactuated autonomous underwater vehicle in the presence of uncertain disturbances. The concept of virtual velocity control is adopted and desired velocities are designed using the backstepping method. Then, the trajectory tracking problem is transformed into a stabilization problem of virtual velocity errors. Dynamic control laws are developed based on non-singular terminal sliding mode control to stabilize virtual velocity errors, and adaptive laws are introduced to deal with parameter perturbation and current disturbances. The stability of the closed-loop control system is analyzed based on Lyapunov stability theory. Two sets of typical simulations are carried out to verify the effectiveness and robustness of the trajectory tracking control algorithm under uncertain disturbances.

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