Research Article
Disturbance Observer-Based Fast Fixed-Time Nonsingular Terminal Sliding-Mode Formation Control for Autonomous Underwater Vehicles
@INPROCEEDINGS{10.1007/978-3-031-34899-0_10, author={Hongde Qin and Jinshuai Si and Liyang Gao}, title={Disturbance Observer-Based Fast Fixed-Time Nonsingular Terminal Sliding-Mode Formation Control for Autonomous Underwater Vehicles}, proceedings={Sensor Systems and Software. 13th EAI International Conference, S-Cube 2022, Dalian, China, December 7-9, 2022, Proceedings}, proceedings_a={S-CUBE}, year={2023}, month={6}, keywords={Autonomous underwater vehicles Formation control Nonsingular fixed-time terminal sliding-mode Fixed-time disturbance observer}, doi={10.1007/978-3-031-34899-0_10} }- Hongde Qin
Jinshuai Si
Liyang Gao
Year: 2023
Disturbance Observer-Based Fast Fixed-Time Nonsingular Terminal Sliding-Mode Formation Control for Autonomous Underwater Vehicles
S-CUBE
Springer
DOI: 10.1007/978-3-031-34899-0_10
Abstract
In this paper, a disturbance observer-based fixed-time formation control method is studied for autonomous underwater vehicles with actuator faults, model uncertainties and external disturbances. Firstly, the leader-follower strategy is combined with the artificial potential field method to obtain the formation configuration. Then, a fast fixed-time disturbance observer is designed to deal with unknown composite disturbances. Further, based on the disturbance observer and fixed-time nonsingular terminal sliding-mode surface, a novel fast fixed-time formation control method is proposed. Finally, simulation results show the effectiveness of the proposed method.
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