Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path
Considering intense hydrothermal activities and rugged topography in a near-bottom environment of the trans-Atlantic geotraverse (TAG) hydrothermal mound, a small autonomous underwater vehicle (S-AUV) will suffer from time-varying disturbances, model uncertainties, actuator faults, and input saturat...
| Główni autorzy: | , , , |
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| Format: | Artykuł |
| Język: | English |
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MDPI AG
2022-05-01
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| Seria: | Journal of Marine Science and Engineering |
| Hasła przedmiotowe: | |
| Dostęp online: | https://www.mdpi.com/2077-1312/10/6/721 |
| _version_ | 1827659491325247488 |
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| author | Guofang Chen Yihui Liu Ziyang Zhang Yufei Xu |
| author_facet | Guofang Chen Yihui Liu Ziyang Zhang Yufei Xu |
| author_sort | Guofang Chen |
| collection | DOAJ |
| description | Considering intense hydrothermal activities and rugged topography in a near-bottom environment of the trans-Atlantic geotraverse (TAG) hydrothermal mound, a small autonomous underwater vehicle (S-AUV) will suffer from time-varying disturbances, model uncertainties, actuator faults, and input saturations. To handle these issues, a fault-tolerant adaptive robust sliding mode control method is presented in this paper. Firstly, unknown disturbances, model uncertainties, and actuator faults of the S-AUV are synthesized into a lumped uncertain vector. Without requiring the upper bound and gradient of the uncertainties, a continuous adaptive finite-time extended state observer is designed to estimate the lumped uncertain vector. Then, an auxiliary dynamic system composed of continuous functions is introduced to deal with input saturations, thereby contributing to achieving fixed-time trajectory tracking control of S-AUVs. Based on a designed continuous fixed-time nonsingular fast sliding mode surface, the proposed continuous adaptive controller is chattering free. Simulated topography is built according to topographic data of the TAG mound, and a smooth trajectory model is constructed by cubic spline interpolation. Comprehensive simulations performed on an actual S-AUV model are given to validate the effectiveness and superiority of the presented algorithm. |
| first_indexed | 2024-03-09T23:23:12Z |
| format | Article |
| id | doaj.art-2b7cb7a7b54a4dc2866f144c318c9fc9 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T23:23:12Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-2b7cb7a7b54a4dc2866f144c318c9fc92023-11-23T17:21:49ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-05-0110672110.3390/jmse10060721Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the PathGuofang Chen0Yihui Liu1Ziyang Zhang2Yufei Xu3Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaConsidering intense hydrothermal activities and rugged topography in a near-bottom environment of the trans-Atlantic geotraverse (TAG) hydrothermal mound, a small autonomous underwater vehicle (S-AUV) will suffer from time-varying disturbances, model uncertainties, actuator faults, and input saturations. To handle these issues, a fault-tolerant adaptive robust sliding mode control method is presented in this paper. Firstly, unknown disturbances, model uncertainties, and actuator faults of the S-AUV are synthesized into a lumped uncertain vector. Without requiring the upper bound and gradient of the uncertainties, a continuous adaptive finite-time extended state observer is designed to estimate the lumped uncertain vector. Then, an auxiliary dynamic system composed of continuous functions is introduced to deal with input saturations, thereby contributing to achieving fixed-time trajectory tracking control of S-AUVs. Based on a designed continuous fixed-time nonsingular fast sliding mode surface, the proposed continuous adaptive controller is chattering free. Simulated topography is built according to topographic data of the TAG mound, and a smooth trajectory model is constructed by cubic spline interpolation. Comprehensive simulations performed on an actual S-AUV model are given to validate the effectiveness and superiority of the presented algorithm.https://www.mdpi.com/2077-1312/10/6/721TAG hydrothermal moundsmall autonomous underwater vehiclefixed-time trajectory tracking controladaptive extended state observerfixed-time sliding mode surfacemodeled trajectory |
| spellingShingle | Guofang Chen Yihui Liu Ziyang Zhang Yufei Xu Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path Journal of Marine Science and Engineering TAG hydrothermal mound small autonomous underwater vehicle fixed-time trajectory tracking control adaptive extended state observer fixed-time sliding mode surface modeled trajectory |
| title | Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path |
| title_full | Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path |
| title_fullStr | Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path |
| title_full_unstemmed | Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path |
| title_short | Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path |
| title_sort | adaptive disturbance observer based continuous sliding mode control for small autonomous underwater vehicles in the trans atlantic geotraverse hydrothermal field with trajectory modeling based on the path |
| topic | TAG hydrothermal mound small autonomous underwater vehicle fixed-time trajectory tracking control adaptive extended state observer fixed-time sliding mode surface modeled trajectory |
| url | https://www.mdpi.com/2077-1312/10/6/721 |
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