We address the trajectory tracking problem for underactuated unmanned underwater vehicle(UUV) in the presence of actuator failure. Firstly, we reconstruct the UUV model according to the possible actuator failures in practice. Then, the third-order sliding mode passive fault tolerant controller was designed. And we prove the controller satisfy the Lyapunov stability. Finally, we demonstrate the controller can complete the established control tasks and has good performance under limited fault conditions through numerical simulation experiments.
Fault-tolerant Trajectory Tracking Control for Underactuated UUV based on Fast Terminal Sliding Mode
2024-11-08
1163146 byte
Conference paper
Electronic Resource
English
Fast Terminal Sliding Mode Control of Underactuated Spacecraft Formation Reconfiguration
Online Contents | 2016
|Fast Terminal Sliding Mode Control of Underactuated Spacecraft Formation Reconfiguration
Online Contents | 2016
|Fault-Tolerant Track Control of Hypersonic Vehicle Based on Fast Terminal Sliding Mode
Online Contents | 2017
|