Trajectory tracking of Intervention-Autonomous Underwater Vehicle via a robust adaptive finite-time control

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.