Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control
This paper presents a nonsingular terminal sliding mode and active disturbance rejection decoupling control (NTSM-ADRDC) scheme for the three-dimensional (3D) trajectory tracking of autonomous underwater vehicles (AUV). Firstly, the AUV model is decoupled into five independent single input–single ou...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/11/5/959 |
| _version_ | 1827741057979252736 |
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| author | Wei Zhang Wenhua Wu Zixuan Li Xue Du Zheping Yan |
| author_facet | Wei Zhang Wenhua Wu Zixuan Li Xue Du Zheping Yan |
| author_sort | Wei Zhang |
| collection | DOAJ |
| description | This paper presents a nonsingular terminal sliding mode and active disturbance rejection decoupling control (NTSM-ADRDC) scheme for the three-dimensional (3D) trajectory tracking of autonomous underwater vehicles (AUV). Firstly, the AUV model is decoupled into five independent single input–single output (SISO) channels using ADRDC technology. Secondly, the NTSM-ADRDC controller is designed. The linear extended state observer (LESO) is used to observe the AUV state variables, and estimate the total disturbance of the system. In addition, to improve the system error convergence rate, the combination of exponential reaching rate and NTSM constitutes a nonlinear states error feedback control law for the controller. Finally, the stability of the proposed control law is proved using the Lyapunov theory. The simulation results demonstrate the effectiveness and robustness of the designed NTSM-ADRDC trajectory tracking approach. |
| first_indexed | 2024-03-11T03:36:29Z |
| format | Article |
| id | doaj.art-75546c5d921f4a39a06534042c38b7c2 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T03:36:29Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-75546c5d921f4a39a06534042c38b7c22023-11-18T01:59:08ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-04-0111595910.3390/jmse11050959Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling ControlWei Zhang0Wenhua Wu1Zixuan Li2Xue Du3Zheping Yan4College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaThis paper presents a nonsingular terminal sliding mode and active disturbance rejection decoupling control (NTSM-ADRDC) scheme for the three-dimensional (3D) trajectory tracking of autonomous underwater vehicles (AUV). Firstly, the AUV model is decoupled into five independent single input–single output (SISO) channels using ADRDC technology. Secondly, the NTSM-ADRDC controller is designed. The linear extended state observer (LESO) is used to observe the AUV state variables, and estimate the total disturbance of the system. In addition, to improve the system error convergence rate, the combination of exponential reaching rate and NTSM constitutes a nonlinear states error feedback control law for the controller. Finally, the stability of the proposed control law is proved using the Lyapunov theory. The simulation results demonstrate the effectiveness and robustness of the designed NTSM-ADRDC trajectory tracking approach.https://www.mdpi.com/2077-1312/11/5/959AUV3D trajectory trackingLESOnonsingular terminal sliding mode control |
| spellingShingle | Wei Zhang Wenhua Wu Zixuan Li Xue Du Zheping Yan Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control Journal of Marine Science and Engineering AUV 3D trajectory tracking LESO nonsingular terminal sliding mode control |
| title | Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control |
| title_full | Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control |
| title_fullStr | Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control |
| title_full_unstemmed | Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control |
| title_short | Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control |
| title_sort | three dimensional trajectory tracking of auv based on nonsingular terminal sliding mode and active disturbance rejection decoupling control |
| topic | AUV 3D trajectory tracking LESO nonsingular terminal sliding mode control |
| url | https://www.mdpi.com/2077-1312/11/5/959 |
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