文献类型：期刊文献

英文题名：Predefined Time Nonsingular Fast Terminal Sliding Mode Control for Trajectory Tracking of ROVs

作者：Yu, Guoyan;Li, Zhuocheng[1];Liu, Haitao;Zhu, Qiheng

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang, Peoples R China; Guangdong Prov Marine Equipment & Mfg Engn Techno, Zhanjiang 524088, Peoples R China

年份：2022

卷号：10

起止页码：107864

外文期刊名：IEEE ACCESS

收录：SCI-EXPANDED(收录号：WOS:000870218000001)、、EI(收录号：20224212975130)、Scopus(收录号：2-s2.0-85139870416)、WOS

基金：This work was supported by the Guangdong Inter-regional Collaborative Fund 2019B1515120017, the Guangdong Special Project of Ocean Economic Development GDNRC [2021] 42, Zhanjiang Key Laboratory of Modern Marine Fishery Equipment 2021A05023, and Zhanjiang City Innovation and Entrepreneurship Team Cultivation ``Pilot Program'' Project (2020LHJH003).

语种：英文

外文关键词：Convergence; Mathematical models; Sliding mode control; Remotely guided vehicles; Trajectory tracking; Control theory; Trajectory tracking; Remotely operated vehicle (ROV); nonsingular fast terminal sliding mode control; fixed time stability; predefined time stability; predefined time control

外文摘要：A predetermined time nonsingular fast terminal sliding mode control (PTNFTSMC) is proposed to solve the problem of long convergence time and instability in the orbit control of remotely operated vehicles (ROVs). First, a new concise method is proposed to design a predetermined-time controller by setting control parameter conditions that self-adjust according to the system state. Then, the control law of PTNFTSMC is formulated by combining the proposed theory of prescribed time control and the theory of fast termination nonsingular sliding control mode. Finally, the stability and tunability of the proposed controller in a specific period are demonstrated by rigorous arguments. Simulation experiments show that the proposed PTNFTSMC achieves stability at any initial state of the system for a specified time with guaranteed convergence accuracy, and the actual convergence time of the system is very close to the parameters of the specified time compared with other existing control schemes. This confirms the effectiveness and superiority of the proposed PTNFTSMC.