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Nonsingular fast terminal sliding mode tracking control for underwater glider with actuator physical constraints.
- Source :
- ISA Transactions; Mar2024, Vol. 146, p249-262, 14p
- Publication Year :
- 2024
-
Abstract
- An adaptive finite-time composite control (AFTCC) scheme is designed for the pitch angle trajectory tracking control of Underwater Glider (UG) with actuator physical constraints, uncertain dynamics and external disturbances. Firstly, a novel nonsingular fast terminal sliding mode control (NFTSMC) law is designed that can avoid singular problems, significantly reduce chattering, and achieve finite-time convergence of the system states. Secondly, a novel fixed-time extended state observer (FxTESO) is established to estimate the pitch angular velocity and lumped disturbances within a fixed time. Furthermore, a novel adaptive fixed-time saturation compensation system (AFxTSCS) is proposed to mitigate the effect caused by actuator saturation, and it can adjust the parameter adaptively when the actuator is in saturation or out of saturation. Finally, the AFTCC scheme, which is based on the NFTSMC framework and combines FxTESO and AFxTSCS, is designed to achieve the pitch angle trajectory tracking of UG, and the finite-time convergence of the whole closed-loop system is proved by the Lyapunov stability theory, and the simulations verify the availability and superiority of the proposed AFTCC scheme. • A simplified underwater glider model is established. • A novel FxTESO is constructed to estimate lumped disturbances. • A novel AFxTSCS is designed to mitigate the effect caused by actuator saturation. • An AFTCC scheme is designed to track the pitch angle of underwater glider. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00190578
- Volume :
- 146
- Database :
- Supplemental Index
- Journal :
- ISA Transactions
- Publication Type :
- Academic Journal
- Accession number :
- 176150808
- Full Text :
- https://doi.org/10.1016/j.isatra.2024.01.005