Finite time trajectory tracking control of underwater salvage robot under full-state constraints
Aiming at the problem that the trajectory tracking of underwater salvage robots is subject to model uncertainty and complex unknown interference when working in the marine environment, a finite time trajectory tracking control scheme based on command filtering and full-state constraint is proposed....
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-01-01
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| Series: | International Journal of Naval Architecture and Ocean Engineering |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2092678225000214 |
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| Summary: | Aiming at the problem that the trajectory tracking of underwater salvage robots is subject to model uncertainty and complex unknown interference when working in the marine environment, a finite time trajectory tracking control scheme based on command filtering and full-state constraint is proposed. The scheme uses the super-twisting algorithm to design the observer to accurately estimate the composite disturbance composed of model uncertainty and unknown complex time-varying disturbance in the system. Secondly, the finite-time command filter based on the first-order Levant differentiator is introduced to solve the problem of ”differential explosion” in deriving the virtual control law concerning time. The barrier Lyapunov function, backstepping control method, and finite-time control theory are combined to achieve finite time full-state constraints. Then, the control scheme is verified by Lyapunov stability, which can make the position error and velocity error of the system converge to the stable region in a finite time. |
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| ISSN: | 2092-6782 |