文献类型：期刊文献

英文题名：Robust Fixed-Time 3D Trajectory Tracking Control for Underactuated AUVs Based on a Fixed-Time SSNN Disturbance Observer

作者：Liu, Haitao[1,2,3];Feng, Zhijian[1];Tian, Xuehong[1,2,3];Mai, Qingqun[1,2,3]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China;[3]Guangdong Engn Technol Res Ctr Ocean Equipment & M, Guangdong Prov Key Lab Intelligent Equipment South, Zhanjiang 524088, Peoples R China

年份：2024

卷号：12

起止页码：73652

外文期刊名：IEEE ACCESS

收录：SCI-EXPANDED(收录号：WOS:001237339700001)、、EI(收录号：20242216161301)、Scopus(收录号：2-s2.0-85194058620)、WOS

基金：No Statement Available

语种：英文

外文关键词：Backstepping; Trajectory tracking; Explosions; Complexity theory; Convergence; Trajectory; Oceans; Neural networks; Disturbance observers; Autonomous underwater vehicles; Three-dimensional displays; Fixed-time control; self-structuring neural network disturbance observer; input quantization; underactuated autonomous underwater vehicles; 3D trajectory tracking

外文摘要：To address the problem of accurate tracking control for underactuated autonomous underwater vehicles (AUVs), a robust fixed-time control strategy is proposed to make AUVs converge to the desired reference trajectory in a fixed time. First, a new asymmetric barrier function is proposed to improve the tracking accuracy by constraining the errors to a defined range. Second, a fixed-time self-structuring neural network disturbance observer is proposed to estimate the external disturbances and guarantee that the observer errors are fixed-time convergent. The number of neurons can be optimized to reduce the computational burden. Third, a nonlinear first-order filter is employed to solve the effect of "complexity explosion" in the backstepping control method. Finally, the input quantizer is employed to reduce chattering and updating frequency on the premise of ensuring control accuracy. It is proven that the tracking error of the AUV can converge to the residual set in a fixed time, and the simulation results not only verify the validity of the method but also demonstrate the superiority of the method.