Dual Closed-Loop UUV Trajectory Tracking Control Based on Fixed-Time Integral Sliding Mode Observer
Aiming at the trajectory tracking control problem of an unmanned underwater vehicle(UUV),a dual-loop motion control strategy based on a fixed-time integral sliding mode observer(FTISO)is designed.Firstly,the mathematical model of UUV motion is established.An integral sliding mode controller is designed for the kinematic outer loop,and a nonlinear differentiator is utilized to obtain the derivative of the virtual control law in the outer loop,in order to ensure precise convergence of the UUV position.Secondly,considering the model uncertainties in the dynamic inner loop and the difficulty in measuring external disturbances,a FTISO is employed to achieve fast estimation of the total disturbances.The stability of the system is analyzed using Lyapunov function.In a simulation environment,the control performance of the dual closed-loop integral sliding mode control based on FTISO is compared with that of the integral sliding mode control and the RBF network-based adaptive sliding mode control.The simulation results demonstrate that the dual closed-loop sliding mode control based on FTISO has good compensation ability for total disturbances,the method improves the performance and accuracy of the control system,and ensures the UUV trajectory tracking in different environments.
unmanned underwater vehicle(UUV)trajectory tracking controlfixed-time integral sliding mode observerdual closed-loop integral sliding mode controller
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