Chinese Journal of Ship Research, Volume. 17, Issue 2, 98(2022)
Accurate track control of unmanned underwater vehicle under complex disturbances
Figures & Tables(25)
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Table 1. Performance comparison of three methods
View tableView in ArticleTable 1. Performance comparison of three methods
性能指标 FDO-NTSMC BSMC NTSMC IAE $ {x_{\text{e}}} $ 0.462 7 1.061 0 1.265 8 $ {y_{\text{e}}} $ 0.356 2 0.766 6 1.603 3 $ {z_{\text{e}}} $ 0.395 6 0.528 4 2.460 3 $ {\theta _{\text{e}}} $ 1.593 2 2.050 1 2.326 6 $ {\psi _{\text{e}}} $ 2.656 4 2.848 2 4.142 3 ITAE $ {x_{\text{e}}} $ 0.561 2 24.282 7 33.159 9 $ {y_{\text{e}}} $ 0.292 6 11.964 8 51.427 9 $ {z_{\text{e}}} $ 0.460 6 7.384 6 80.571 9 $ {\theta _{\text{e}}} $ 1.779 8 16.042 0 16.232 8 $ {\psi _{\text{e}}} $ 3.749 6 17.936 6 39.832 9
Table 2. Performance comparison of three methods under step perturbation
View tableView in ArticleTable 2. Performance comparison of three methods under step perturbation
性能指标 FDO-NTSMC BSMC NTSMC IAE $ {x_{\text{e}}} $ 0.626 5 1.718 2 5.916 2 $ {y_{\text{e}}} $ 0.513 5 1.456 3 6.499 6 $ {z_{\text{e}}} $ 0.555 3 1.234 4 7.711 7 $ {\theta _{\text{e}}} $ 1.740 6 2.576 4 5.167 5 $ {\psi _{\text{e}}} $ 2.820 2 3.520 0 8.959 2 ITAE $ {x_{\text{e}}} $ 6.568 8 48.180 9 203.403 5 $ {y_{\text{e}}} $ 5.986 0 37.016 3 231.457 9 $ {z_{\text{e}}} $ 6.288 3 33.114 5 272.619 8 $ {\theta _{\text{e}}} $ 7.129 9 35.028 3 85.621 4 $ {\psi _{\text{e}}} $ 9.733 6 42.372 9 213.641 1
Table 3. Performance comparison of three methods under the condition of limiting amplitude of control input
View tableView in ArticleTable 3. Performance comparison of three methods under the condition of limiting amplitude of control input
性能指标 FDO-NTSMC BSMC NTSMC IAE $ {x_{\text{e}}} $ 0.466 3 0.940 9 1.767 4 $ {y_{\text{e}}} $ 0.381 3 0.815 4 2.326 4 $ {z_{\text{e}}} $ 0.437 5 0.641 1 3.513 0 $ {\theta _{\text{e}}} $ 1.593 2 2.050 1 3.422 3 $ {\psi _{\text{e}}} $ 1.994 5 1.690 2 3.192 1 ITAE $ {x_{\text{e}}} $ 0.567 2 19.343 2 52.946 8 $ {y_{\text{e}}} $ 0.322 0 11.429 8 80.644 2 $ {z_{\text{e}}} $ 0.528 2 7.112 8 119.339 1 $ {\theta _{\text{e}}} $ 1.779 8 16.042 0 23.617 4 $ {\psi _{\text{e}}} $ 2.423 6 14.800 6 56.396 3
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Haohua CHEN, Hong ZHAO, Ning WANG, Chen GUO, Ting LU, Ning WANG. Accurate track control of unmanned underwater vehicle under complex disturbances[J]. Chinese Journal of Ship Research, 2022, 17(2): 98
Paper Information
Category: Ship Design and Performance
Received: Dec. 23, 2020
Accepted: --
Published Online: Mar. 24, 2025
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