This paper proposes a trajectory tracking control scheme consisting of a fast finite-time super-twisting sliding mode control (FSTSMC) approach and an extended state higher-order sliding mode observer (ESHSMO) for unmanned underwater vehicles (UUVs) with external disturbances and model uncertainties. Firstly, an extended state higher-order sliding mode observer with the finite-time convergence is designed based on the higher-order sliding mode technique and the extended state observer technique. Next, on the basis of disturbances and model uncertainties observation, a fast finite-time super-twisting sliding mode control approach is proposed, and the finite time stabilization property of the tracking errors is proved by Lyapunov theory. Finally, through numerical simulation and experiment in a water pool, it has been verified that the proposed control scheme has achieved the high control precision, the smaller chattering, the disturbance compensation and the fast finite-time convergence in UUV trajectory tracking.
Fast Finite-Time Super-Twisting Sliding Mode Control with an Extended State Higher-Order Sliding Mode Observer for UUV Trajectory Tracking
2024
Article (Journal)
Electronic Resource
Unknown
Metadata by DOAJ is licensed under CC BY-SA 1.0
Fractional order super-twisting sliding mode observer for sensorless control of induction motor
BASE | 2019
|Design of Super-Twisting Sliding Mode Observer for LISA Mission Micro-Meteoroid Impact
BASE | 2023
|