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Disturbance Observer-Based Fast Fixed-Time Nonsingular Terminal Sliding-Mode Formation Control for Autonomous Underwater Vehicles

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Sensor Systems and Software (S-Cube 2022)

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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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Authors and Affiliations

  1. Harbin Engineering University, Harbin, 150001, China

    Hongde Qin, Jinshuai Si & Liyang Gao

Authors
  1. Hongde Qin
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  2. Jinshuai Si
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  3. Liyang Gao
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Corresponding author

Correspondence to Jinshuai Si .

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Editors and Affiliations

  1. Politecnico di Milano, Milan, Italy

    Hamid Reza Karimi 

  2. Dalian Maritime University, Dalian, China

    Ning Wang

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Qin, H., Si, J., Gao, L. (2023). Disturbance Observer-Based Fast Fixed-Time Nonsingular Terminal Sliding-Mode Formation Control for Autonomous Underwater Vehicles. In: Karimi , H.R., Wang, N. (eds) Sensor Systems and Software. S-Cube 2022. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 487. Springer, Cham. https://doi.org/10.1007/978-3-031-34899-0_10

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  • DOI: https://doi.org/10.1007/978-3-031-34899-0_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-34898-3

  • Online ISBN: 978-3-031-34899-0

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