| Autor: |
Haohua CHEN, Hong ZHAO, Ning WANG, Chen GUO, Ting LU |
| Jazyk: |
English<br />Chinese |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
Zhongguo Jianchuan Yanjiu, Vol 17, Iss 2, Pp 98-108 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
1673-3185 |
| DOI: |
10.19693/j.issn.1673-3185.02236 |
| Popis: |
ObjectivesThis paper presents a non-singular terminal sliding mode track control method based on a finite-time disturbance observer to solve the problem of accurately tracking and controlling an the 3D trajectory of an unmanned underwater vehicle under complex external disturbances.MethodsA non-singular terminal sliding mode track controller is designed to ensure that the tracking error converges to zero accurately within a limited time. A finite-time disturbance observer is designed to improve the anti-jamming ability of the system under external multidimensional time-varying disturbances.ResultsThe Lyapunov function is used to prove that the designed control strategy can remain stable for a limited time. MATLAB is used for the simulation experiment, and a comparison with the backstepping sliding mode control method under step disturbance shows that the method presented in this paper achieves accurate trajectory tracking.ConclusionsThe results of this paper can provide a solution for accurately tracking the 3D trajectories of unmanned underwater vehicles. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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