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Volume 7 Issue 2
Mar.  2020

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Zhenyu Gao and Ge Guo, "Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 539-545, Mar. 2020. doi: 10.1109/JAS.2020.1003057
Citation: Zhenyu Gao and Ge Guo, "Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer
," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 539-545, Mar. 2020. doi: 10.1109/JAS.2020.1003057

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

doi: 10.1109/JAS.2020.1003057
Funds:  This work was supported in part by the National Natural Science Foundation of China (61573077, U1808205) and the National Key Research and Development Program of China (2017YFA0700300)
More Information
  • 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.

     

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    Highlights

    • A fixed-time sliding mode control scheme is proposed for the formation control of AUVs.
    • By combining the model parameter uncertainty and external disturbance as a compound disturbance, a disturbance observer is present, which can estimate a disturbance exactly within a fixed time independent of the initial estimation errors.
    • Under the disturbance observer (DO) and in the framework of fixed-time sliding mode control, a fixed-time formation tracking control method is proposed, which can guarantee global fixed-time stability of the formation system.

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