This paper proposes a predefined-time three-dimensional (3-D) trajectory tracking control scheme for underactuated autonomous underwater vehicles (AUVs) with unknown dynamics and unknown time-varying disturbances. First, a predefined-time disturbance observer is designed to estimate the compound disturbances lumped by unknown dynamics and time-varying disturbances. Based on the predefined-time disturbance observer, a predefined-time 3-D trajectory tracking control law is designed within the backstepping framework. Theoretical analysis indicates that the tracking error under proposed control scheme of the underactuated AUVs can converge to a small compact set around the zero within a predefined time and finally asymptotic converge to zero, while all signals in the AUV trajectory tracking close-loop control system are bounded. Simulation results with comparisons demonstrate the effectiveness and the superiority of the proposed control scheme.


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    Title :

    Predefined-Time 3-D Trajectory Tracking Control of Underactuated AUVs with Predefined-Time Disturbance Observer


    Contributors:
    Liu, Junnan (author) / Lin, Dapeng (author) / Du, Jialu (author)


    Publication date :

    2024-07-05


    Size :

    978274 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English