[1]MA Limin.Global chattering-free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles[J].CAAI Transactions on Intelligent Systems,2016,11(2):200-207.[doi:10.11992/tis.201512015]
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Global chattering-free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 11 Number of periods: 2016 2 Page number: 200-207 Column: 学术论文—智能系统 Public date: 2016-04-25
Title:
Global chattering-free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles
Author(s):
MA Limin
Navy Military Representative Office in Jinzhou, Jinzhou 121000, China
Keywords:
autonomous underwater vehicle; global control; sliding mode control; trajectory tracking; backstepping; adaptive; constraint; Lyapunov method
CLC:
TP391
DOI:
10.11992/tis.201512015
Abstract:
To investigate the global trajectory tracking control problem of an underactuated autonomous underwater vehicle (AUV) with control input and velocity constraints, this study first linearized the kinematics to determine the commands of pseudo velocities and yaw angle. These commands solved the speed jump problem in the traditional backstepping method and ensured that the control input and velocity constraints were satisfied. In the second design of the dynamics, an adaptive chattering-free sliding mode technique was used to achieve the global trajectory tracking control of an underactuated AUV, which improved the essential flaws in the work by Yu that cannot guarantee yaw angle tracking. The robust adaptive sliding mode controller with bound estimation achieved enhanced performance for a general class of AUVs in the presence of possibly large parameter uncertainty and unknown environmental disturbances from a practical application viewpoint. Finally, complete stability analysis based on Lyapunov theorem and simulations demonstrated the robustness of the proposed controller to systematical uncertainties, as well as the global tracking ability of underactuated AUVs with control input and velocity constraints.
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