Sliding mode controller for three-dimensional trajectory tracking of AUV based on feedback linearization

被引：0
|
作者：
Li J. [1 ,2 ]
Wang J. [2 ]
Ding F. [2 ]
机构：
[1] Key Laboratory of Underwater Robot Technology, Harbin Engineering University, Harbin
[2] School of Intelligent Science and Engineering, Harbin Engineering University, Harbin
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2022年 / 43卷 / 03期
关键词：
Actuated AUV; Adaptive variable parameters; Chattering; Feedback linearization; Observer; Sliding mode control; Trajectory tracking; Unknown disturbance;
D O I：
10.11990/jheu.202101003
中图分类号：
学科分类号：
摘要：
To solve the problems of autonomous underwater vehicles, such as strong nonlinear coupling, model uncertainty, and unknown disturbance, in complex marine environments, an approach based on the exact feedback linearization of differential geometry is proposed in this study. The proposed method can convert a vehicle model into a linear model and reduce the systematic error caused by a nonlinear model. The proportional integral observer is designed to accurately observe the unknown disturbance in complex marine environments. Then, the sliding mode controller is designed using the adaptive variable parameter method to eliminate chattering. The Lyapunov stability theorem is used to prove the robustness and stability of the designed controller under unknown external disturbances. The numerical simulation results illustrate the effectiveness and good performance of the proposed controller. Copyright ©2022 Journal of Harbin Engineering University.
引用
收藏
页码：348 / 355
页数：7
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