Collision-free trajectory tracking strategy of a UUV via finite-time extended state observer-based sliding mode predictive control

• Published in: Journal of the Franklin Institute Vol. 361; no. 18; p. 107245
• Main Authors: Zhang, Xun, Chen, Huijun, Xing, Wen, Feng, Zhiguang, Jiang, Hailong
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 01.12.2024
• Subjects: A double-loop architecture; Finite-time extended state observer; Model predictive control; Sliding mode control; Unmanned underwater vehicles; Model predictive control; Finite-time extended state observer; Unmanned underwater vehicles; A double-loop architecture; Sliding mode control
• ISSN: 0016-0032
• DOI: 10.1016/j.jfranklin.2024.107245

This paper focuses on a trajectory tracking problem for unmanned underwater vehicles (UUVs) subject to current disturbances and static obstacles. A double-loop framework is established. The kinematic governor employs model predictive control(MPC), which takes into account the UUV’s kinematic charact...