Three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle with a robust adaptive algorithm

2019 ◽  
Vol 43 (2) ◽  
pp. 179-188
Author(s):  
Yunbiao Jiang ◽  
Chen Guo ◽  
Haomiao Yu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Uncertain Disturbances ◽  
Virtual Velocity

This paper investigates the problem of three-dimensional trajectory tracking control for an underactuated autonomous underwater vehicle in the presence of uncertain disturbances. The concept of virtual velocity control is adopted and desired velocities are designed using the backstepping method. Then, the trajectory tracking problem is transformed into a stabilization problem of virtual velocity errors. Dynamic control laws are developed based on non-singular terminal sliding mode control to stabilize virtual velocity errors, and adaptive laws are introduced to deal with parameter perturbation and current disturbances. The stability of the closed-loop control system is analyzed based on Lyapunov stability theory. Two sets of typical simulations are carried out to verify the effectiveness and robustness of the trajectory tracking control algorithm under uncertain disturbances.

scholarly journals Three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle based on ocean current observer

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880681 ◽  
Author(s):  
Xiao Liang ◽  
Xingru Qu ◽  
Yuanhang Hou ◽  
Qiang Ma
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
System Stability ◽  
Ocean Current ◽  
Singular Problem ◽  
Kinematics And Dynamics ◽  
Trajectory Tracking Control

This article presents a design method for the three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle with unknown current disturbances. To simplify the complexity of the controller and avoid the singular problem induced by initial state constraints, a novel nonlinear backstepping technique based on virtual control variables is employed to design the kinematics and dynamics controllers. The control law is developed by building virtual errors, which can solve the problem of differential explosion in the traditional backstepping. Specifically, an ocean current observer based on the kinematics model is proposed to estimate unknown current disturbances, where the estimation is integrated into the autonomous underwater vehicle kinematics and dynamics equations. The convergence of tracking errors and system stability are proven by using Lyapunov stable theory. Finally, the simulation studies were provided to illustrate the effectiveness and good performance of the above trajectory tracking strategy.

scholarly journals Robust trajectory tracking control for an underactuated autonomous underwater vehicle based on bioinspired neurodynamics

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880674 ◽  
Author(s):  
Yunbiao Jiang ◽  
Chen Guo ◽  
Haomiao Yu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Parameter Perturbations

This article investigates the three-dimensional trajectory tracking control problem for an underactuated autonomous underwater vehicle in the presence of parameter perturbations and external disturbances. An adaptive robust controller is proposed based on the velocity control strategy and adaptive integral sliding mode control algorithm. First, the desired velocities are developed using coordinate transformation and the backstepping method, which is the necessary velocities for autonomous underwater vehicle to track the time-varying desired trajectory. The bioinspired neurodynamics is used to smooth the desired velocities, which effectively avoids the jump problem of the velocity and simplifies the derivative calculation. Then, the dynamic control laws are designed based on the adaptive integral sliding mode control to drive the underactuated autonomous underwater vehicle to sail at the desired velocities. At the same time, the auxiliary control laws and the adaptive laws are introduced to eliminate the influence of parameter perturbations and external disturbances, respectively. The stability of the control system is guaranteed by the Lyapunov theorem, which shows that the system is asymptotically stable and all tracking errors are asymptotically convergent. At the end, numerical simulations are carried out to demonstrate the effectiveness and robustness of the proposed controller.

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