Finite-Time Tracking Control of Autonomous Underwater Vehicle Without Velocity Measurements
نویسندگان
چکیده
Human-on-the-loop (HOTL) system is regarded as a promising technology to allow autonomous underwater vehicle (AUV) track the most adequate target point soon possible. However, unique characteristics of environment make it challenging perform tracking task. This article concerned with finite-time control issue for AUV, subjected unavailable velocity signals in measurement side and uncertain model parameters physical side. A HOTL system, including operator, buoys, AUV sensors, first provided construct cooperative network. For such operator surface center decides mission based on all available data. Then, buoy-assisted localization estimator utilized by acquire its position, through which fast terminal sliding mode observer developed estimate finite time. With estimated information, an adaptive-nonsingular controller designed drive proposed controller, signum differential functions are employed together improve convergence speed reduce chattering. Besides that, solution can not only guarantee observation, but also achieve control. Finally, simulation experimental results both presented verify effectiveness.
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ژورنال
عنوان ژورنال: IEEE transactions on systems, man, and cybernetics
سال: 2022
ISSN: ['1083-4427', '1558-2426']
DOI: https://doi.org/10.1109/tsmc.2021.3095975