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Keywords = DVTER

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19 pages, 1621 KiB  
Article
Trajectory Tracking Control for an Underactuated AUV via Nonsingular Fast Terminal Sliding Mode Approach
by Yuan Wang and Zhenbin Du
J. Mar. Sci. Eng. 2024, 12(8), 1442; https://doi.org/10.3390/jmse12081442 - 21 Aug 2024
Cited by 3 | Viewed by 1407
Abstract
This paper studies the trajectory tracking issue for an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. The desired velocity–tracking error relationship (DVTER) is constructed according to the kinematics and kinetic equation, which means that the expected velocities are built so that [...] Read more.
This paper studies the trajectory tracking issue for an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. The desired velocity–tracking error relationship (DVTER) is constructed according to the kinematics and kinetic equation, which means that the expected velocities are built so that the position tracking errors converge to 0. Moreover, the limitation of obtaining the expected velocity by directly differentiating the desired position values is avoided. Then, the nonsingular fast terminal sliding mode (TSM) controller is developed to ensure that the velocities converge to the designed expected values in finite time, and tracking speed is improved by comparing with the traditional nonsingular terminal sliding mode method. It turns out that the expected trajectory can be tracked by an underactuated AUV. Finally, the efficiency of the constructed control mechanism is confirmed by simulation results. Full article
(This article belongs to the Section Ocean Engineering)
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