Abstract
This paper studies the trajectory tracking control problem for autonomous underwater vehicles (AUVs) subject to external disturbances and model uncertainties. To improve the tracking performance of the AUVs, a prescribed performance function is introduced to constrain the output tracking error. Then, a fixed-time extended state observer (FxTESO) is set up to estimate the unknown states and the lumped disturbances (including external disturbances and model uncertainties). With the outputs of the FxTESO, a novel dynamic fixed-time terminal sliding mode (FxTTSM) surface is constructed and then a fixed-time output feedback controller is designed to achieve trajectory tracking control for the AUVs. By employing Lyapunov function theory, the stability of the closed-loop system is analyzed. Simulation results are provided to verify the effectiveness of the developed control scheme.
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