Fixed-time [formula omitted] tracking control of unmanned underwater vehicles with disturbance rejection via Port-Hamiltonian framework

Abstract

The fixed-time tracking control schemes of unmanned underwater vehicles (UUVs) are investigated in body-fixed coordinates frame based on Port-Hamiltonian (PH) model with external disturbances. The novel locally and globally fixed-time control laws via the interconnection and damping assignment passivity-based control (IDA-PBC) are designed for trajectory tracking in UUVs. The virtual desired equilibria consisted of the tracking error and the desired trajectory are established by the matching conditions. Moreover, the fixed-time stabilization of the UUV induced of variable parameter matrixes is analyzed. Compared with the traditional IDA-PBC controller, the UUV is guaranteed to achieve the reference trajectory within a fixed time regardless of initial conditions. In the presence of external disturbances, the H∞ laws are incorporated in the fixed-time control for the UUV, which can ensure faster trajectory tracking and strong anti-disturbance. Finally, the simulation results demonstrate the effectiveness of the main schemes.