Hybrid coordinated trajectory tracking control for AUVs via multi-objective quantum-behaved PSO

Authors

Pei Zhou, Haonan Chen, Yun Chen, Jianjun Bai, Yunfei Guo

Abstract

To deal with the trajectory tracking control (TTC) problem of an autonomous underwater vehicle (AUV) under oceanic current disturbances, this article proposes a hybrid coordinated control (HCC) method and the multi-objective optimisation issue is solved correspondingly. First, a double-loop integral sliding mode controller (ISMC) is designed, which exhibits excellent fast-response performance but poor steady-state feature. Meanwhile, a state error port-controlled Hamiltonian (SEPCH) controller is formulated, demonstrating relatively poor response speed while maintaining good steady-state characteristics. Subsequently, the hybrid control strategy by combining double-loop ISMC and SEPCH controller is constructed through a weighted model. Moreover, the weighting coefficients involving three performance indices related to tracking error, energy and time can be intelligently optimised by means of multi-objective quantum-behaved particle swarm optimisation (MOQBPSO) technique. Then, a reduced-order extended state observer (ESO) is introduced to enhance the control accuracy in the presence of time-varying disturbances from external surroundings. Two simulation scenarios demonstrate the validity of the proposed method.

Citation

• Journal: International Journal of Systems Science
• Year: 2026
• Volume:
• Issue:
• Pages: 1–18
• Publisher: Informa UK Limited
• DOI: 10.1080/00207721.2026.2634194

BibTeX

@article{Zhou_2026,
  title={{Hybrid coordinated trajectory tracking control for AUVs via multi-objective quantum-behaved PSO}},
  ISSN={1464-5319},
  DOI={10.1080/00207721.2026.2634194},
  journal={International Journal of Systems Science},
  publisher={Informa UK Limited},
  author={Zhou, Pei and Chen, Haonan and Chen, Yun and Bai, Jianjun and Guo, Yunfei},
  year={2026},
  pages={1--18}
}

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