Finite time trajectory tracking control of underwater salvage robot under full-state constraints
Aiming at the problem that the trajectory tracking of underwater salvage robots is subject to model uncertainty and complex unknown interference when working in the marine environment, a finite time trajectory tracking control scheme based on command filtering and full-state constraint is proposed....
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| Format: | Article |
| Language: | English |
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Elsevier
2025-01-01
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| Series: | International Journal of Naval Architecture and Ocean Engineering |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2092678225000214 |
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| author | Xue Bai Yan Zhang Wenyi Tan Yang Liu Baihui Jiang Jiawei Wang |
| author_facet | Xue Bai Yan Zhang Wenyi Tan Yang Liu Baihui Jiang Jiawei Wang |
| author_sort | Xue Bai |
| collection | DOAJ |
| description | Aiming at the problem that the trajectory tracking of underwater salvage robots is subject to model uncertainty and complex unknown interference when working in the marine environment, a finite time trajectory tracking control scheme based on command filtering and full-state constraint is proposed. The scheme uses the super-twisting algorithm to design the observer to accurately estimate the composite disturbance composed of model uncertainty and unknown complex time-varying disturbance in the system. Secondly, the finite-time command filter based on the first-order Levant differentiator is introduced to solve the problem of ”differential explosion” in deriving the virtual control law concerning time. The barrier Lyapunov function, backstepping control method, and finite-time control theory are combined to achieve finite time full-state constraints. Then, the control scheme is verified by Lyapunov stability, which can make the position error and velocity error of the system converge to the stable region in a finite time. |
| format | Article |
| id | doaj-art-54ec820df1af46f6b865a53ff8a49d3f |
| institution | OA Journals |
| issn | 2092-6782 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Elsevier |
| record_format | Article |
| series | International Journal of Naval Architecture and Ocean Engineering |
| spelling | doaj-art-54ec820df1af46f6b865a53ff8a49d3f2025-08-20T02:05:12ZengElsevierInternational Journal of Naval Architecture and Ocean Engineering2092-67822025-01-011710066310.1016/j.ijnaoe.2025.100663Finite time trajectory tracking control of underwater salvage robot under full-state constraintsXue Bai0Yan Zhang1Wenyi Tan2Yang Liu3Baihui Jiang4Jiawei Wang5Department of School of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaCorresponding author.; Department of School of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaDepartment of School of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaDepartment of School of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaDepartment of School of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaDepartment of School of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaAiming at the problem that the trajectory tracking of underwater salvage robots is subject to model uncertainty and complex unknown interference when working in the marine environment, a finite time trajectory tracking control scheme based on command filtering and full-state constraint is proposed. The scheme uses the super-twisting algorithm to design the observer to accurately estimate the composite disturbance composed of model uncertainty and unknown complex time-varying disturbance in the system. Secondly, the finite-time command filter based on the first-order Levant differentiator is introduced to solve the problem of ”differential explosion” in deriving the virtual control law concerning time. The barrier Lyapunov function, backstepping control method, and finite-time control theory are combined to achieve finite time full-state constraints. Then, the control scheme is verified by Lyapunov stability, which can make the position error and velocity error of the system converge to the stable region in a finite time.http://www.sciencedirect.com/science/article/pii/S2092678225000214Trajectory trackingFull state constraintsBarrier Lyapunov functionRobot for object salvaging underwater |
| spellingShingle | Xue Bai Yan Zhang Wenyi Tan Yang Liu Baihui Jiang Jiawei Wang Finite time trajectory tracking control of underwater salvage robot under full-state constraints International Journal of Naval Architecture and Ocean Engineering Trajectory tracking Full state constraints Barrier Lyapunov function Robot for object salvaging underwater |
| title | Finite time trajectory tracking control of underwater salvage robot under full-state constraints |
| title_full | Finite time trajectory tracking control of underwater salvage robot under full-state constraints |
| title_fullStr | Finite time trajectory tracking control of underwater salvage robot under full-state constraints |
| title_full_unstemmed | Finite time trajectory tracking control of underwater salvage robot under full-state constraints |
| title_short | Finite time trajectory tracking control of underwater salvage robot under full-state constraints |
| title_sort | finite time trajectory tracking control of underwater salvage robot under full state constraints |
| topic | Trajectory tracking Full state constraints Barrier Lyapunov function Robot for object salvaging underwater |
| url | http://www.sciencedirect.com/science/article/pii/S2092678225000214 |
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