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

作     者：Zhenyu Gao Ge Guo Zhenyu Gao;Ge Guo

作者机构：School of Control EngineeringNortheastern University at QinhuangdaoQinhuangdao 066004China Key Laboratory of Synthetical Automation for Process IndustriesNortheastern UniversityShenyang 110819 School of Control EngineeringNortheastern University at QinhuangdaoQinhuangdao 066004China( 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2020年第7卷第2期

页      面：539-545页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造] 080201[工学-机械制造及其自动化] 

基　　金：supported in part by the National Natural Science Foundation of China(61573077,U1808205) the National Key Research and Development Program of China(2017YFA0700300) 

主　　题：Autonomous underwater vehicles(AUVs) disturbance observer(DO) sliding mode control formation control 

摘      要：In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external *** external disturbances due to the wind,waves,and ocean currents are combined with the model parameter uncertainties as a compound *** a disturbance observer(DO)is introduced to estimate the compound disturbance,which can be achieved within a finite time independent of the initial estimation *** 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 *** effectiveness and performance of the method are demonstrated by numerical simulations.