文章基本信息

标题：Neural Network Non-Singular Terminal Sliding Mode Control for Target Tracking of Underactuated Underwater Robots with Prescribed Performance
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作者：Guo, Liwei ; Liu, Weidong ; Li, Le 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：2
页码：1-19
DOI：10.3390/jmse10020252
语种：English
出版社：MDPI AG
摘要：This paper proposes a neural network-based nonsingular terminal sliding mode controller with prescribed performances for the target tracking problem of underactuated underwater robots. Firstly, the mathematical formulation of the target tracking problem is presented with an underactuated underwater robot model and the corresponding control objectives. Then, the target tracking errors from the line-of-sight guidance law are transformed using the prescribed performance technique to achieve good dynamic performance and steady-state performance that meet the pre-set conditions. Meanwhile, considering the model’s uncertainties and the external disturbances to the underwater robots, a target tracking controller is proposed based on the radial basis function (RBF) neural network and the non-singular terminal sliding mode control. Lyapunov stability analysis and homogeneity theory prove the tracking errors can converge on a small region that contains the origin with prescribed performance in finite time. In the simulation comparison, the controller proposed in this paper had better dynamic performance, steady-state performance and chattering supression. In particular, the steady-state error of the tracking error was lower, and the convergence time of the tracking error in the vertical distance was reduced by 19.1%.
关键词：underwater robot; target tracking; neural network; non-singular terminal sliding mode; prescribed performance