Open AccessFinite Time Cascade Control Scheme for Tracking Control of an Underwater Exploring Robot
Author(s) -
Zhimin Liu,
Xiaozhong Zhou
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/649/1/012016
Subject(s) - control theory (sociology) , nonholonomic system , trajectory , controller (irrigation) , underactuation , transformation (genetics) , computer science , tracking (education) , backstepping , nonlinear system , control engineering , cascade , robot , control (management) , engineering , mobile robot , artificial intelligence , adaptive control , physics , psychology , pedagogy , biochemistry , chemistry , quantum mechanics , astronomy , chemical engineering , gene , agronomy , biology
In this paper, we discuss the curve trajectory tracking problem of an underactuated underwater robot in the horizontal plane. We use global diffeomorphism transformation method to transform the sixth-order dynamic tracking error model into a nonlinear cascaded system, by using the cascaded systems’ finite time stability theory, along with the back stepping technique to design the controller. Two discontinuous finite time controllers are designed for the two subsystems respectively. In the existing literature, finite time control is used for the first order nonholonomic system, we extended this method to two order nonholonomic system in this paper. The finite time controller can tune not only the gain, but also the fractional power, it is more convenience for engineering implementation. The results show the control laws can achieve the control objective with good performance for the horizontal trajectory tracking control.