Fixed-time H∞ tracking control of unmanned underwater vehicles with disturbance rejection via Port-Hamiltonian framework

Authors

Lina Jin, Shuanghe Yu, Qiang Zhao, Guoyou Shi, Xiaofeng Wu

Abstract

The fixed-time tracking control schemes of unmanned underwater vehicles (UUVs) are investigated in body-fixed coordinates frame based on Port-Hamiltonian (PH) model with external disturbances. The novel locally and globally fixed-time control laws via the interconnection and damping assignment passivity-based control (IDA-PBC) are designed for trajectory tracking in UUVs. The virtual desired equilibria consisted of the tracking error and the desired trajectory are established by the matching conditions. Moreover, the fixed-time stabilization of the UUV induced of variable parameter matrixes is analyzed. Compared with the traditional IDA-PBC controller, the UUV is guaranteed to achieve the reference trajectory within a fixed time regardless of initial conditions. In the presence of external disturbances, the H ∞ laws are incorporated in the fixed-time control for the UUV, which can ensure faster trajectory tracking and strong anti-disturbance. Finally, the simulation results demonstrate the effectiveness of the main schemes.

Keywords

fixed-time, ida-pbc, ph, uuv

Citation

• Journal: Ocean Engineering
• Year: 2024
• Volume: 293
• Issue:
• Pages: 116533
• Publisher: Elsevier BV
• DOI: 10.1016/j.oceaneng.2023.116533

BibTeX

@article{Jin_2024,
  title={{Fixed-time <mml:math xmlns:mml=“http://www.w3.org/1998/Math/MathML” altimg=“si1.svg”><mml:mrow><mml:msub><mml:mi>H</mml:mi><mml:mi>∞</mml:mi></mml:msub></mml:mrow></mml:math> tracking control of unmanned underwater vehicles with disturbance rejection via Port-Hamiltonian framework}},
  volume={293},
  ISSN={0029-8018},
  DOI={10.1016/j.oceaneng.2023.116533},
  journal={Ocean Engineering},
  publisher={Elsevier BV},
  author={Jin, Lina and Yu, Shuanghe and Zhao, Qiang and Shi, Guoyou and Wu, Xiaofeng},
  year={2024},
  pages={116533}
}

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