Trajectory Tracking Control of Uuvs Based on the Ppg Method with Disturbance Observer

作     者：Zhang, Hugan Zhang, Xianku 

作者机构：Key Lab. of Marine Simulation and Control Navigation College Dalian Maritime University Dalian116026 China 

出 版 物：《SSRN》 

年 卷 期：2023年

核心收录：

主　　题：Trajectories 

摘      要：In order to solve the problems of environment disturbances and model parameter perturbation in under actuated Underwater Vehicles (UUVs) trajectory tracking control, a Sliding mode control algorithm based on projected perpendicular guidance (PPG) is proposed in this paper. Firstly, by simplifying the six degrees of freedom UUVs model, a model suitable for trajectory tracking controller design is obtained. Secondly, a novel type of PPG method is proposed, and a virtual control law is designed to convert the trajectory tracking control into speed control and heading control, and the sliding mode controller is used to control the speed, heading and depth. Due to the susceptibility of UUVS to external environmental disturbances and model parameter perturbations during trajectory tracking, a disturbance observer is used to estimate the disturbance and feedback it into the controller design. Finally, the effectiveness of the proposed algorithm is verified through simulation of linear and curve trajectories respectively. © 2023, The Authors. All rights reserved.