Abstract
The trajectory tracking of Intervention-Autonomous Underwater Vehicle (I-AUV) under hydrodynamic, uncertainties, disturbances and dynamic interaction is studied in this paper. A robust adaptive finite-time control is proposed to attain the high tracking accuracy and strong robustness. Firstly, to enhance the dynamical performance, a continuous terminal sliding mode surface is designed to guarantee that surface and errors are stable finite-time convergent to origin. Second, a feedback control term is developed to depict the hydrodynamic, uncertainties and disturbance estimation error. Then, an adaptive nested estimation technology is developed to approach the disturbance, in which a virtual torque is tuned by the low-pass filtering, and dual nested adaptive laws are provided to approximate this virtual torque and its time derivative, which can constrain the residual error to a small elliptic domain. The validity of our proposed control is verified by Lyapunov stability theory, and its reliability is proved in the simulation cases.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call