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.
Predefined-Time 3-D Trajectory Tracking Control of Underactuated AUVs with Predefined-Time Disturbance Observer
2024-07-05
978274 byte
Conference paper
Electronic Resource
English
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