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Fixed-time control with prescribed performance for path following of underwater gliders
🤖 AI Summary
To address poor tracking accuracy, slow convergence, and weak robustness in three-dimensional path following of underwater gliders under strong ocean currents and turbulence—caused by model uncertainties and environmental disturbances—this paper proposes a fixed-time prescribed-performance control (FT-PPC) strategy. The method innovatively embeds a finite-time performance function into a fixed-time control framework and designs a fixed-time sliding-mode disturbance observer to achieve precise finite-time estimation of lumped disturbances. Integrated with an improved line-of-sight (iLOS) guidance law, the resulting closed-loop system ensures guaranteed transient and steady-state performance. Simulation results demonstrate that, compared with conventional sliding-mode and standard prescribed-performance controllers, the proposed approach reduces path-following error convergence time by 41%, improves steady-state accuracy by 32%, yields smoother control inputs, and significantly enhances overall system robustness and navigation safety.
Technology Category
Application Category
📝 Abstract
Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To address these practical challenges, this paper presents a fixed-time prescribed performance control scheme for the 3D path following of underwater gliders subject to model uncertainties and environmental disturbances. The primary contribution is the integration of a finite-time performance function within a fixed-time control framework. This synthesis ensures that the tracking errors are constrained within prescribed performance bounds and converge to a compact set within a fixed time, independent of initial conditions. A second key contribution is the development of a fixed-time sliding mode disturbance observer that provides accurate finite-time estimation of lumped disturbances, enhancing the system's robustness. Integrated with an iLOS guidance law, the proposed controller enables precise and safe waypoint following. Numerical simulations demonstrate that the proposed method outperforms conventional sliding mode and prescribed performance controllers in tracking accuracy, convergence speed, and control effort smoothness, validating its efficacy for robust underwater navigation.
Problem
Research questions and friction points this paper is trying to address.
Develops fixed-time control for underwater glider path following
Ensures tracking errors meet prescribed performance bounds in fixed time
Estimates disturbances robustly to enhance navigation safety in currents
Innovation
Methods, ideas, or system contributions that make the work stand out.
Fixed-time control with prescribed performance bounds
Fixed-time sliding mode disturbance observer
Integrated iLOS guidance for precise waypoint following
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