文献类型：期刊文献

英文题名：Predefined-Time Three-Dimensional Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles

作者：Wen, Jinzhong[1];Zhang, Jing[1,2];Yu, Guoyan[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Guangdong Prov Key Lab Intelligent Equipment South, Zhanjiang 524088, Peoples R China

年份：2025

卷号：15

期号：4

外文期刊名：APPLIED SCIENCES-BASEL

收录：SCI-EXPANDED(收录号：WOS:001429908800001)、、EI(收录号：20250917949725)、Scopus(收录号：2-s2.0-85218469167)、WOS

基金：This research was funded by PROGRAM FOR SCIENTIFIC RESEARCH START-UP FUNDS OF GUANGDONG OCEAN UNIVERSITY, grant number 060302062202.

语种：英文

外文关键词：predefined-time adaptive control; underactuated AUVs; RBFNNs; three-dimensional trajectory

外文摘要：This paper addresses the three-dimensional trajectory tracking problem of underactuated autonomous underwater vehicles (AUVs) operating in the presence of external disturbances and unmodeled dynamics by proposing a predefined-time adaptive control scheme. Firstly, the underactuated AUV system was decoupled into drive and non-drive subsystems to facilitate the design of a controller that does not rely on specific model parameters. Radial basis function neural networks (RBFNNs) were employed to estimate the external disturbances. To enhance tracking performance, a predefined-time adaptive control law was designed to ensure that tracking errors converged to a small neighborhood around the origin within the predefined time. The adaptive control law compensated for the unmodeled components. Finally, we used theoretical proofs and simulations to show that our method is effective and superior.