Improved Nonsingular Fast Terminal Sliding Mode Control of Unmanned Underwater Hovering Vehicle  

作　　者：HE Chenlu FENG Zhengping 何晨璐;冯正平(School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China [2]State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2022年第3期393-401,共9页上海交通大学学报（英文版）

摘　　要：An improved nonsingular fast terminal sliding mode manifold based on scaled state error is proposed in this paper.It can significantly accelerate the convergence rate of the state error which is initially far from the origin and achieve the fixed-time convergence.In addition,conventional double power term based reaching law is improved to ensure the convergence of sliding state in the presence of disturbances.The proposed approach is applied to the hovering control of an unmanned underwater vehicle.The controller exhibits both fast convergence and strong robustness to model uncertainty and external disturbances.

关 键 词：nonsingular fast terminal sliding mode double power reaching law hovering control underwater vehicle 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]