文章基本信息

标题：Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays
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作者：Jiajia Zhou ; Xinyi Zhao ; Zhiguang Feng 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2020
卷号：17
期号：3
页码：1-12
DOI：10.1177/1729881420916276
出版社：SAGE Publications
摘要：Trajectory tracking control of autonomous underwater vehicles in three-dimension always suffers disturbances such as input time delays and model uncertainties. Regarding this problem, an integral time-delay sliding mode control law is proposed in this article with dividing the vehicle’s input time delays model into cascade system consisting of a kinematics subsystem and a dynamics subsystem. Based on the established pose error equation and velocity error equation, a suitable Lyapunov–Krasovskii functional is given to analyze and guarantee the global stability of the whole system under reasonable assumptions. At last, comparative simulations are presented to demonstrate the effectiveness of the proposed method..
关键词：Motion and tracking ; vision systems ; robust ; adaptive and optimal control ; robot manipulation and control ; autonomous control ; robot manipulation and control ; underwater vehicles ; field robotics ; target tracking and identification ; robot sensors and sensor networks