Fast Finite-Time Super-Twisting Sliding Mode Control with an Extended State Higher-Order Sliding Mode Observer for UUV Trajectory Tracking

作者：Liwei Guo, Weidong Liu, Le Li, Jingming Xu, Kang Zhang, Yuang Zhang · 发表于：Drones · 年份：2024 · DOI：10.3390/drones8020041 · 被引用次数：16 · 研究领域：Adaptive Control of Nonlinear Systems、Underwater Vehicles and Communication Systems、Space Satellite Systems and Control

This paper proposes a trajectory tracking control scheme consisting of a fast finite-time super-twisting sliding mode control (FSTSMC) approach and an extended state higher-order sliding mode observer (ESHSMO) for unmanned underwater vehicles (UUVs) with external disturbances and model uncertainties. Firstly, an extended state higher-order sliding mode observer with the finite-time convergence is designed based on the higher-order sliding mode technique and the extended state observer technique. Next, on the basis of disturbances and model uncertainties observation, a fast finite-time super-twisting sliding mode control approach is proposed, and the finite time stabilization property of the tracking errors is proved by Lyapunov theory. Finally, through numerical simulation and experiment in a water pool, it has been verified that the proposed control scheme has achieved the high control precision, the smaller chattering, the disturbance compensation and the fast finite-time convergence in UUV trajectory tracking.