Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer
文献类型：期刊论文
| 作者 | Zhenyu Gao; Ge Guo |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 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. |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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