关键字：TRAJECTORY-TRACKING

摘要：A terminal sliding mode control method based on a predefined time adaptive disturbance observer is proposed for the three-dimensional (3D) trajectory tracking control of a six-degree-of-freedom autonomous underwater vehicle (AUV) under parameter uncertainty and external disturbance. First, a continuous predefined time adaptive integral sliding mode disturbance observer (PTAISMDO) is designed, which avoids the chattering problem and presets the convergence time. Combined with the parameter adaptive mechanism, the upper limit of parameter uncertainty is determined. A predefined time non-singular terminal sliding mode controller (PTNTSMC) is designed in conjunction with a terminal sliding mode surface. The proposed method enables the tracking error to converge rapidly to a small region near the origin within a predefined time, while still maintaining a high tracking accuracy. Numerical simulations verify the superiority of the proposed method.

卷号：331

期号：-

是否译文：否