Nonlinear disturbance observer-based backstepping finite-time sliding mode tracking control of underwater vehicles with system uncertainties and external disturbances

Liu, Siyuan; Liu, Yancheng; Wang, Weining

doi:10.1007/s11071-016-3253-8

Cited by 152 publications

(96 citation statements)

References 41 publications

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“…Remark The Assumption is borrowed from the works of Levant and Shtessel et al The Assumption supposes that the derivative of disturbance has Lipschitz constant. It is a relatively common assumption for the existing related literatures of disturbance rejection control, see, eg, other works . In practice, a variety of disturbances satisfy the Assumption , such as constant disturbances, high‐order polynomial disturbances, harmonic disturbances, and so on.…”

Section: Finite‐time Disturbance Observer (Ftdo)mentioning

confidence: 99%

“…Additionally, the nominal controller is designed to meet the requirements on tracking performance specifications of the system. Recently, a nonlinear disturbance observer–based backstepping SMC method is developed to reject the external disturbances and model uncertainties, under which the finite‐time stability can be achieved . Moreover, DOBC methods are extended to the attenuation of both the matched disturbances and mismatched disturbances .…”

Section: Introductionmentioning

confidence: 99%

“…Recently, a nonlinear disturbance observer-based backstepping SMC method is developed to reject the external disturbances and model uncertainties, under which the finite-time stability can be achieved. 21 Moreover, DOBC methods are extended to the attenuation of both the matched disturbances and mismatched disturbances. 22,23 Furthermore, some DOBC methods are proposed to attenuate and reject the disturbances for stochastic Markovian jump system.…”

mentioning

confidence: 99%

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Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Fang

Liu

Zhao³

2019

Intl J Robust & Nonlinear

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Summary This paper investigates a novel disturbance estimation and characterization‐based robust control scheme of the manned submersible in the presence of external disturbances and model uncertainties. First of all, a finite‐time disturbance observer is designed to estimate the lumped disturbances of the manned submersible system. Then, a novel disturbance characterization index is defined via Lyapunov theory to indicate whether the lumped disturbances harm or benefit the manned submersible system. The control law is developed via the disturbance characterization–based backstepping control (DCB‐BC) method to remove the detrimental disturbances and to keep the beneficial disturbances of the manned submersible. Additionally, the rigorous stability analysis is given based on Lyapunov theory. Furthermore, some simulation results verify the effectiveness of the proposed DCB‐BC method. The key novelty of this paper is that the disturbances are explicitly used in the controller design to achieve better control performance and disturbance rejection capability.

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Section: Finite‐time Disturbance Observer (Ftdo)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Fang

Liu

Zhao³

2019

Intl J Robust & Nonlinear

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“…In Reference , a sliding mode disturbance observer was designed to approximate the external disturbance and the approximation errors, then an adaptive controller was studied based on the output of NN and NDO. For many practical engineering systems, NDO is also utilized widely, such as, underwater vehicle systems, hypersonic vehicle systems, and mobile robots systems . However, these previous results for strict feedback nonlinear systems cannot be straightforwardly applied to more general pure feedback nonlinear systems due to the absence of control gain functions and directions.…”

Section: Introductionmentioning

confidence: 99%

Adaptive neural prescribed performance output feedback control of pure feedback nonlinear systems using disturbance observer

Chen

Yang

2020

Adaptive Control & Signal

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Summary In this study, an adaptive output feedback control with prescribed performance is proposed for unknown pure feedback nonlinear systems with external disturbances and unmeasured states. A novel prescribed performance function is developed and incorporated into an output error transformation to achieve tracking control with prescribed performance. To handle the unknown non‐affine nonlinearities and avoid the algebraic loop problem, the radial basis function neural network (RBFNN) is adopted to approximate the unknown non‐affine nonlinearities with the help of Butterworth low‐pass filter. Based on the output of the RBFNN, the coupled design between sate observer and disturbance observer is presented to estimate the unmeasured states and compounded disturbances. Then, the adaptive output feedback control scheme is proposed for unknown pure feedback nonlinear systems, where a first‐order filter is introduced to tackle with the issue of “explosion of complexity” in the traditional back‐stepping approach. The boundedness and convergence of the closed‐loop system are proved rigorously by utilizing the Lyapunov stability theorem. Finally, simulation studies are worked out to demonstrate the effectiveness of the proposed scheme.

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“…[5][6][7][8] The AUVs have the characteristics of highly nonlinearity, parameter uncertainty, and others in dynamics and are exposed to unpredictable underwater environment, which puts considerable challenges in the trajectory tracking control design. Various control techniques have been used to solve the trajectory tracking control problem of AUVs with unknown dynamic parameters and disturbances, such as adaptive control, 9 sliding mode control, 10,11 neural network (NN), 12,13 robust integral of the sign of the error technique, 14 disturbance observer-based control, 15 and adding a power integrator-based method. 16 All the AUVs considered in the literature [9][10][11][12][13][14][15][16] are fully actuated.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

Sun

et al. 2019

Intl J Robust & Nonlinear

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Summary In this paper, a novel robust adaptive trajectory tracking control scheme with prescribed performance is developed for underactuated autonomous underwater vehicles (AUVs) subject to unknown dynamic parameters and disturbances. A simple error mapping function is proposed in order to guarantee that the trajectory tracking error satisfies the prescribed performance. A novel additional control based on Nussbaum function is proposed to handle the underactuation of AUVs. The compounded uncertain item caused by the unknown dynamic parameters and disturbances is transformed into a linear parametric form with only single unknown parameter called virtual parameter. On the basis of the above, a novel robust adaptive trajectory tracking control law is developed using dynamic surface control technique, where the adaptive law online provides the estimation of the virtual parameter. Strict stability analysis indicates that the designed control law ensures uniform ultimate boundedness of the AUV trajectory tracking closed‐loop control system with prescribed tracking performance. Simulation results on an AUV in two different disturbance cases with dynamic parameter perturbation verify the effectiveness of our adaptive trajectory tracking control scheme.

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Nonlinear disturbance observer-based backstepping finite-time sliding mode tracking control of underwater vehicles with system uncertainties and external disturbances

Cited by 152 publications

References 41 publications

Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Adaptive neural prescribed performance output feedback control of pure feedback nonlinear systems using disturbance observer

Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

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