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Acta Armamentarii ›› 2022, Vol. 43 ›› Issue (8): 1939-1946.doi: 10.12382/bgxb.2021.0491

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Finite-time Path-following Controller for UUV Based on PSO-NTSMC

YU Haomiao1, LIU Chengwei1, GUO Chen1, JIA Zhaoyan2   

  1. (1.College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China;2.Norinco Group Air Ammunition Research Institute Co. Ltd., Harbin 150001, Heilongjiang, China)
  • Online:2022-06-07

Abstract: For the path-following problem of underactuated unmanned underwater vehicle (UUV), the path-following control strategy is proposed based on the particle swarm optimization and nonsingular terminal sliding mode control (PSO-NTSMC) method. Firstly, the linear path-following guidance law is developed by line of sight and Serret-Frenet frame. Then, the path-following controller is designed based on the nonsingular terminal sliding mode, which can stabilize the path-following errors. Furthermore, the PSO is introduced to optimize the controller parameters in order to obtain better control performance. Finally, the numerical simulation results show that the designed controller can accurately execute the horizontal straight path following in finite time, and can effectively overcome the influence of constant unknown current and model parameter perturbations.

Key words: unmannedunderwatervehicle, pathfollowing, finite-timestability, particleswarmoptimization, nonsingularterminalslidingmode

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