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Terminal sliding mode-based tracking control with error transformation for underwater vehicles

Terminal sliding mode-based tracking control with error transformation for underwater vehicles
Terminal sliding mode-based tracking control with error transformation for underwater vehicles
Ocean currents and waves can cause the initial position of an underwater vehicle to deviate from the initial state of the desired trajectory. For such cases, this paper investigates the finite-time tracking control problem for a vehicle in the presence of large initial tracking errors and external disturbances. A continuous finite-time tracking control scheme is developed for this scenario based on an improved nonsingular terminal sliding mode surface modified by a piecewise function. Compared to the alternative approaches, a method based on error transformation is added to the sliding mode surface, resulting in improved tracking accuracy in the steady state. Then, to reduce the effect of large initial tracking error on the control input signals, an exponential decay function about the initial location of the vehicle is developed to obtain the control law by combining it with a strictly generalized saturation function. In contrast to alternative approaches, a nonlinear structure is used to counteract the approximation error of the neural network used in the modeling of the dynamics. Moreover, it is shown that the tracking error converges to a small neighborhood of zero in a fixed time. Finally, the new control scheme's effectiveness is verified by simulation studies on an underwater vehicle model and the results compared to other existing control designs.
1049-8923
7186-7206
Liu, Xing
fe61471d-841c-4508-aecf-d386df8705b5
Zhang, Mingjun
3777d4f5-fa7c-4dfc-8b44-085ff37692d3
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, Yujia
2f298b3e-ef3e-41bb-a2c4-9d6698db472c
Yao, Feng
70b5a0df-5385-49dd-b4ce-691d1d9b29c5
Liu, Xing
fe61471d-841c-4508-aecf-d386df8705b5
Zhang, Mingjun
3777d4f5-fa7c-4dfc-8b44-085ff37692d3
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, Yujia
2f298b3e-ef3e-41bb-a2c4-9d6698db472c
Yao, Feng
70b5a0df-5385-49dd-b4ce-691d1d9b29c5

Liu, Xing, Zhang, Mingjun, Rogers, Eric, Wang, Yujia and Yao, Feng (2021) Terminal sliding mode-based tracking control with error transformation for underwater vehicles. International Journal of Robust and Nonlinear Control, 31, 7186-7206. (doi:10.1002/rnc.5653).

Record type: Article

Abstract

Ocean currents and waves can cause the initial position of an underwater vehicle to deviate from the initial state of the desired trajectory. For such cases, this paper investigates the finite-time tracking control problem for a vehicle in the presence of large initial tracking errors and external disturbances. A continuous finite-time tracking control scheme is developed for this scenario based on an improved nonsingular terminal sliding mode surface modified by a piecewise function. Compared to the alternative approaches, a method based on error transformation is added to the sliding mode surface, resulting in improved tracking accuracy in the steady state. Then, to reduce the effect of large initial tracking error on the control input signals, an exponential decay function about the initial location of the vehicle is developed to obtain the control law by combining it with a strictly generalized saturation function. In contrast to alternative approaches, a nonlinear structure is used to counteract the approximation error of the neural network used in the modeling of the dynamics. Moreover, it is shown that the tracking error converges to a small neighborhood of zero in a fixed time. Finally, the new control scheme's effectiveness is verified by simulation studies on an underwater vehicle model and the results compared to other existing control designs.

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Published date: 28 June 2021

Identifiers

Local EPrints ID: 454247
URI: http://eprints.soton.ac.uk/id/eprint/454247
ISSN: 1049-8923
PURE UUID: 6869d95a-f104-4fcd-aea7-2355416d1a19
ORCID for Xing Liu: ORCID iD orcid.org/0000-0002-2655-9174
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 03 Feb 2022 17:47
Last modified: 28 Apr 2022 01:35

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Contributors

Author: Xing Liu ORCID iD
Author: Mingjun Zhang
Author: Eric Rogers ORCID iD
Author: Yujia Wang
Author: Feng Yao

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