Accurate track control of unmanned underwater vehicle under complex disturbances

CHEN Haohua; ZHAO Hong; WANG Ning; GUO Chen; LU Ting; WANG Ning

doi:10.19693/j.issn.1673-3185.02236

Volume 17 Issue 2

Apr. 2022

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Article Navigation > Chinese Journal of Ship Research > 2022 > 17(2): 98-108

CHEN H H, ZHAO H, WANG N, et al. Accurate track control of unmanned underwater vehicle under complex disturbances[J]. Chinese Journal of Ship Research, 2022, 17(2): 98–108 doi: 10.19693/j.issn.1673-3185.02236

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Accurate track control of unmanned underwater vehicle under complex disturbances

doi: 10.19693/j.issn.1673-3185.02236

CHEN Haohua^1
,,
ZHAO Hong^1
,,
WANG Ning^{1, 2
,
,},
GUO Chen¹,
LU Ting¹,
WANG Ning¹

1.
Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China
2.
College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China

Received Date: 2020-12-23
Rev Recd Date: 2021-03-18

Available Online: 2022-04-06

Publish Date: 2022-04-20

Abstract

This is an Open Access article distributed under the terms of the Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Objectives This paper presents a non-singular terminal sliding mode track control method based on a finite-time disturbance observer to solve the problem of accurately tracking and controlling an the 3D trajectory of an unmanned underwater vehicle under complex external disturbances. Methods A non-singular terminal sliding mode track controller is designed to ensure that the tracking error converges to zero accurately within a limited time. A finite-time disturbance observer is designed to improve the anti-jamming ability of the system under external multidimensional time-varying disturbances. Results The Lyapunov function is used to prove that the designed control strategy can remain stable for a limited time. MATLAB is used for the simulation experiment, and a comparison with the backstepping sliding mode control method under step disturbance shows that the method presented in this paper achieves accurate trajectory tracking. Conclusions The results of this paper can provide a solution for accurately tracking the 3D trajectories of unmanned underwater vehicles.
- unmanned underwater vehicle,
- 3D trajectory tracking,
- finite-time disturbance observer,
- step disturbance,
- non-singular terminal sliding mode,
- backstepping sliding mode

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