Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer

doi:10.1109/JAS.2020.1003057

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	Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer
	Zhenyu Gao; Ge Guo
刊名	IEEE/CAA Journal of Automatica Sinica
	2020
卷号	7 期号:2 页码:539-545
关键词	Autonomous underwater vehicles (AUVs) disturbance observer (DO) sliding mode control formation control
ISSN号	2329-9266
DOI	10.1109/JAS.2020.1003057
英文摘要	In this paper, we investigate formation tracking control of autonomous underwater vehicles (AUVs) with model parameter uncertainties and external disturbances. The external disturbances due to the wind, waves, and ocean currents are combined with the model parameter uncertainties as a compound disturbance. Then a disturbance observer (DO) is introduced to estimate the compound disturbance, which can be achieved within a finite time independent of the initial estimation error. Based on a DO, a novel fixed-time sliding control scheme is developed, by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time. The effectiveness and performance of the method are demonstrated by numerical simulations.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42962]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Zhenyu Gao,Ge Guo. Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(2):539-545.
APA	Zhenyu Gao,&Ge Guo.(2020).Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer.IEEE/CAA Journal of Automatica Sinica,7(2),539-545.
MLA	Zhenyu Gao,et al."Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer".IEEE/CAA Journal of Automatica Sinica 7.2(2020):539-545.