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Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays
International Journal of Advanced Robotic Systems ( IF 2.3 ) Pub Date : 2020-05-01 , DOI: 10.1177/1729881420916276
Jiajia Zhou 1 , Xinyi Zhao 1 , Zhiguang Feng 1 , Di Wu 1
Affiliation  

Trajectory tracking control of autonomous underwater vehicles in three-dimension always suffers disturbances such as input time delays and model uncertainties. Regarding this problem, an integral time-delay sliding mode control law is proposed in this article with dividing the vehicle’s input time delays model into cascade system consisting of a kinematics subsystem and a dynamics subsystem. Based on the established pose error equation and velocity error equation, a suitable Lyapunov–Krasovskii functional is given to analyze and guarantee the global stability of the whole system under reasonable assumptions. At last, comparative simulations are presented to demonstrate the effectiveness of the proposed method.

中文翻译:

时滞欠驱动自主水下航行器的轨迹跟踪滑模控制

三维自主水下航行器的轨迹跟踪控制总是受到输入时间延迟和模型不确定性等干扰。针对这个问题,本文提出了一种积分时滞滑模控制律,将车辆的输入时滞模型划分为由运动学子系统和动力学子系统组成的级联系统。在建立的位姿误差方程和速度误差方程的基础上,给出了一个合适的Lyapunov-Krasovskii泛函,以在合理的假设下分析和保证整个系统的全局稳定性。最后,通过对比仿真来证明所提出方法的有效性。
更新日期:2020-05-01
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