Abstract
Under the constraints of unavailable velocity signals in measurement side and uncertain model parameters in physical side, a finite-time tracking control issue is studied. To be specific, a cooperative tracking network is first constructed. Subsequently, a buoy-assisted localization estimator is employed by AUV to obtain its position, and then, a fast terminal sliding mode observer is designed to estimate the velocity of AUV in finite time. With the estimated velocity information, an adaptive-nonsingular fast terminal sliding mode tracking controller is designed to drive AUV to the target point in finite time. In addition, the proposed solution can not only guarantee finite-time velocity observation, but also achieve finite-time tracking control. Finally, simulation and experimental results are both given to verify the effectiveness of the proposed observer and tracking controller.
Published Version
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