A DMPC-Based Approach to Circular Cooperative Path-following Control of Unmanned Underwater Vehicles

2019 ◽  
Author(s):  
Jiwei Hu ◽  
Bo Jin ◽  
Huiping Li ◽  
Weisheng Yan ◽  
Mingyong Liu ◽  
...  
Keyword(s):  
Path Following ◽  
Underwater Vehicles ◽  
Unmanned Underwater Vehicles ◽  
Path Following Control

scholarly journals Consensus Path-following Control of Multiple Underactuated Unmanned Underwater Vehicles

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Yintao Wang ◽  
Yao Yao
Keyword(s):  
Path Following ◽  
Underwater Vehicles ◽  
Virtual Reference ◽  
Unmanned Underwater Vehicles ◽  
Consensus Tracking ◽  
Path Following Control ◽  
Simulation Results ◽  
The Stability ◽  
Single Path ◽  
Tracking Strategy

This work mainly studies the problem of how to steer a group of underactuated unmanned underwater vehicles UUVs to specified paths coordinately. The algorithm proposed consists of a single path-following strategy and a path parameter consensus tracking strategy. In the context of single path following, we describe the path to be followed by an arbitrary scalar, then by using Lyapunov and backstepping theories, a single path-following strategy was derived to drive each UUV move to the predefined path asymptotically. In the coordinated level, we focus on the coordination for the scalar parameters. In particular, we show that all the path parameters can track with a virtual reference leader who is a neighbor of only a subset of following UUVs with local interactions. The stability of the closed system was proved and analyzed theoretically. The validity of the algorithm proposed is supported by simulation results.

scholarly journals Spatial Path Following for AUVs Using Adaptive Neural Network Controllers

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Jiajia Zhou ◽  
Zhaodong Tang ◽  
Honghan Zhang ◽  
Jianfang Jiao
Keyword(s):  
Neural Network ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underwater Vehicles ◽  
Ocean Current ◽  
Lyapunov Stability Theorem ◽  
Adaptive Neural Network ◽  
Path Following Control ◽  
Following Error ◽  
Neural Network Controllers

The spatial path following control problem of autonomous underwater vehicles (AUVs) is addressed in this paper. In order to realize AUVs’ spatial path following control under systemic variations and ocean current, three adaptive neural network controllers which are based on the Lyapunov stability theorem are introduced to estimate uncertain parameters of the vehicle’s model and unknown current disturbances. These controllers are designed to guarantee that all the error states in the path following system are asymptotically stable. Simulation results demonstrated that the proposed controller was effective in reducing the path following error and was robust against the disturbances caused by vehicle's uncertainty and ocean currents.

Path-Following Control of an AUV: Fully Actuated Versus Under-actuated Configuration

2016 ◽  
Vol 50 (1) ◽  
pp. 34-47 ◽  
Author(s):  
Xianbo Xiang ◽  
Caoyang Yu ◽  
Qin Zhang ◽  
Guohua Xu
Keyword(s):  
Control Method ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underwater Vehicles ◽  
Slip Angle ◽  
Nonlinear Controllers ◽  
Path Following Control ◽  
Marine Technology ◽  
Nonlinear Control Method ◽  
And Control

AbstractThe problem of motion control of underwater vehicles in both the fully actuated and under-actuated configurations is often confronted by the marine technology community. This paper presents a nonlinear control method for autonomous underwater vehicles (AUVs) traveling along a planned planar path in both actuation configurations. The common objectives of path-following control for both fully actuated and under-actuated vehicles are described, and the differences in the necessary path-following control designs are analyzed, showing that the side-slip angle of the vehicle plays an important role in the evolution of the dynamics of AUVs with different actuation configurations. Based on the presented analysis, nonlinear controllers for the two types of AUV configurations are proposed, and the inherent characteristics of under-actuation and full actuation are revealed by a dedicated analysis of numerical simulation paradigms, the results of which will be instrumental in guiding marine technology engineers in the practical design and control of AUVs.

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