期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 26, 期 5, 页码 2517-2527出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3041613
关键词
Uncertainty; Adaptation models; Mathematical model; Asymptotic stability; Closed loop systems; Upper bound; Linear matrix inequalities; Adaptation laws; autonomous underwater vehicle (AUV); nonlinear sliding surfaces; path following objective; practical finite-time stability (PFTS); saturation nonlinearities
This article discusses how to achieve finite-time path following control in the presence of parametric and modeling uncertainties, disturbances, and unknown saturation nonlinearities, and validates the effectiveness of the proposed control scheme through experiments.
The problem of finite-time path following control for a typical 6-DOF (degree of freedom) autonomous underwater vehicle (AUV) subjected to parametric and modeling uncertainties, disturbances and unknown saturation nonlinearities is studied and discussed in this article. For the mentioned AUV, finite-time control inputs are designed based on innovative terminal sliding surfaces and several finite-time adaptation laws. By means of the designed adaptation laws, the unknown physical parameters of AUVs, the unknown upper bound of uncertainties, and an unknown parameter of input saturation are estimated. By using the Lyapunov stability theorem, it is proven that designed control inputs are able to ensure and provide the practical finite-time stability for the closed-loop AUV system. Furthermore, it is mathematically demonstrated that the tracking errors (defined for the path following problem of the AUV) converge to the vicinity of zero within an adjustable finite time. Finally, the efficacy of the suggested control scheme is demonstrated by the hardware-in-the-loop OPAL real-time test.
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