TY - JOUR
T1 - Finite-time velocity-free observer-based consensus tracking for heterogeneous uncertain AUVs via adaptive sliding mode control
AU - Chen, Bo
AU - Hu, Jiangping
AU - Zhao, Yiyi
AU - Ghosh, Bijoy Kumar
N1 - Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 61473061 , Grant 71503206 , and Grant 61104104 ; in part by the Sichuan Science and Technology Program under Grant 2020YFSY0012 ; and in part by the Program for New Century Excellent Talents in University under Grant NCET-13-0091 .
Publisher Copyright:
© 2021 Elsevier Ltd
PY - 2021/10/1
Y1 - 2021/10/1
N2 - In this study, a finite-time velocity-free position consensus tracking control method is investigated for multiple autonomous underwater vehicle (AUV) systems with heterogeneous uncertain dynamics. First, two distributed finite-time observers are developed for each follower AUV to estimate the state information of the leader and follower-AUVs’ own. Subsequently, via the sliding mode control technique, a consensus tracking control algorithm based on the estimated information is designed, such that each follower AUV can track the leader's position trajectory within a finite-time, even in the absence of velocity measurement. Second, for the situation involving uncertain model parameters, a parameter adaptive sliding mode-based control algorithm is proposed to improve the performance of the closed-loop AUV system. The two controllers only require the position information of the AUVs. Finally, two numerical simulations are carried out to validate the effectiveness of the two proposed control protocols.
AB - In this study, a finite-time velocity-free position consensus tracking control method is investigated for multiple autonomous underwater vehicle (AUV) systems with heterogeneous uncertain dynamics. First, two distributed finite-time observers are developed for each follower AUV to estimate the state information of the leader and follower-AUVs’ own. Subsequently, via the sliding mode control technique, a consensus tracking control algorithm based on the estimated information is designed, such that each follower AUV can track the leader's position trajectory within a finite-time, even in the absence of velocity measurement. Second, for the situation involving uncertain model parameters, a parameter adaptive sliding mode-based control algorithm is proposed to improve the performance of the closed-loop AUV system. The two controllers only require the position information of the AUVs. Finally, two numerical simulations are carried out to validate the effectiveness of the two proposed control protocols.
KW - Adaptive sliding mode control
KW - Distributed finite-time control
KW - Distributed observer
KW - Heterogeneous uncertain AUVs
KW - Velocity-free measurement
UR - http://www.scopus.com/inward/record.url?scp=85111961593&partnerID=8YFLogxK
U2 - 10.1016/j.oceaneng.2021.109565
DO - 10.1016/j.oceaneng.2021.109565
M3 - Article
AN - SCOPUS:85111961593
VL - 237
JO - Ocean Engineering
JF - Ocean Engineering
SN - 0029-8018
M1 - 109565
ER -