Neural Network Non-Singular Terminal Sliding Mode Control for Target Tracking of Underactuated Underwater Robots with Prescribed Performance

Abstract

This paper proposes a neural network-based nonsingular terminal sliding mode controller with prescribed performances for the target tracking problem of underactuated underwater robots. Firstly, the mathematical formulation of the target tracking problem is presented with an underac-tuated underwater robot model and the corresponding control objectives. Then, the target tracking errors from the line-of-sight guidance law are transformed using the prescribed performance tech-nique to achieve good dynamic performance and steady-state performance that meet the pre-set conditions. Meanwhile, considering the model’s uncertainties and the external disturbances to the underwater robots, a target tracking controller is proposed based on the radial basis function (RBF) neural network and the non-singular terminal sliding mode control. Lyapunov stability analysis and homogeneity theory prove the tracking errors can converge on a small region that contains the origin with prescribed performance in finite time. In the simulation comparison, the controller proposed in this paper had better dynamic performance, steady-state performance and chattering su-pression. In particular, the steady-state error of the tracking error was lower, and the convergence time of the tracking error in the vertical distance was reduced by 19.1%.