Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
8063336 | Ocean Engineering | 2018 | 7 Pages |
Abstract
This paper develops a trajectory tracking control law for autonomous underwater vehicles (AUVs) with the effect of states and control input quantization. A sliding mode control (SMC) scheme is proposed to conquer the quantization effect by introducing the bound of quantization error into the switching term of the SMC. A finite-time disturbance observer is proposed to observe the unknown time-varying disturbances. The stability analysis demonstrates that the designed tracking controller can force the AUV to track the reference trajectory and guarantee the asymptotic stability of the closed system. Simulation results illustrate the effectiveness of the proposed control method.
Related Topics
Physical Sciences and Engineering
Engineering
Ocean Engineering
Authors
Yan Yan, Shuanghe Yu,