Stabilizer design for an under-actuated autonomous underwater vehicle in a descriptor model under unknown time delay and uncertainty

2021 ◽  
pp. 014233122110378
Author(s):  
Mohammad Hedayati Khodayari ◽  
Naser Pariz ◽  
Saeed Balochian
Keyword(s):  
Time Delay ◽  
State Feedback ◽  
Autonomous Underwater Vehicle ◽  
State Space Model ◽  
Underwater Vehicle ◽  
Descriptor Systems ◽  
Closed Loop System ◽  
Real Model ◽  
Lyapunov Function Method ◽  
Saturation Constraint

This paper focuses on autonomous underwater vehicle (AUV) stabilization in the nonlinear descriptor model, as well as some AUV limitations such as model uncertainty, singularity, saturation constraint, and time delay. The capability of the descriptor model to show the real model is more reasonable than the standard state-space model. Based on the constructed Lyapunov function method and applying the bilinear matrix inequalities technique, all of the constraints are handled by introducing the new theorem. This theorem aims to design a state feedback with the intent that the closed-loop system be admissible. Here, the results are less conservative than other approaches. This issue has not yet been fully addressed in the literature, especially on AUVs. Theorem achievement is implemented on new AUV descriptor model that is obtained and introduced here. This method covers both neutral and descriptor systems. Also, it can be generalized and applied to conventional AUVs or similar dynamics. Examples and simulation results illustrate the effectiveness of the proposed approach.

Observer-Based Control of a Class of Switched Fuzzy Systems

2014 ◽  
Vol 945-949 ◽  
pp. 2539-2542
Author(s):  
Hong Yang ◽  
Huan Huan Lü ◽  
Le Zhang
Keyword(s):  
Fuzzy System ◽  
Fuzzy Systems ◽  
Function Method ◽  
State Feedback ◽  
Closed Loop ◽  
External Disturbance ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Lyapunov Function Method ◽  
Switching State

For the non-measurable states, a control of switched fuzzy systems is presented based on observer. Using switching technique and multiple Lyapunov function method, the fuzzy observer is built to ensure that for all allowable external disturbance the relevant closed-loop system is asymptotically stable. Moreover, switching strategy achieving system global asymptotic stability of the switched fuzzy system is given. In this model, a switching state feedback controller is presented. A simulation shows the feasibility and the effectiveness of the method.

A Fault Accommodating Control of an Autonomous Underwater Vehicle Under Thruster Redundancy and Saturation

2001 ◽  
Author(s):  
Tarun Kanti Podder ◽  
Nilanjan Sarkar
Keyword(s):  
State Feedback ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic State ◽  
Redundancy Resolution ◽  
Task Space ◽  
Cartesian Space ◽  
Resolution Scheme ◽  
Excess Number ◽  
Asymptotic Reduction

Abstract An approach to the allocation of thruster forces of an autonomous underwater vehicle (AUV) is investigated in this paper. Generally, the number of thrusters in an AUV is more than what is minimally required to produce the desired motion. This paper presents a framework that exploits the excess number of thrusters to accommodate thruster faults during operation. First, a redundancy resolution scheme is presented that takes into account the presence of excess number of thrusters along with any thruster faults, and determines the reference thruster forces to produce the desired motion. This framework is then extended to incorporate a dynamic state feedback technique to generate reference thruster forces that are within the saturation limit of each thruster. These reference thruster forces are utilized in the thruster controller to generate the required motion. This approach resolves the thruster redundancy in the Cartesian space and allows the AUV to track the task-space trajectories with asymptotic reduction of the task-space errors. Results from computer simulations are provided to demonstrate the viability of the proposed scheme.

Robust generalized dynamic inversion based control of autonomous underwater vehicles

2017 ◽  
Vol 232 (4) ◽  
pp. 434-447 ◽  
Author(s):  
Uzair Ansari ◽  
Abdulrahman H Bajodah
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Closed Loop ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Dynamic Inversion ◽  
Control Law ◽  
Closed Loop System

A novel two-loop structured robust generalized dynamic inversion–based control system is proposed for autonomous underwater vehicles. The outer (position) loop of the generalized dynamic inversion control system utilizes proportional-derivative control of the autonomous underwater vehicle’s inertial position errors from the desired inertial position trajectories, and it provides the reference yaw and pitch attitude angle commands to the inner loop. The inner (attitude) loop utilizes generalized dynamic inversion control of a prescribed asymptotically stable dynamics of the attitude angle errors from their reference values, and it provides the required control surface deflections such that the desired inertial position trajectories of the vehicle are tracked. The dynamic inversion singularity is avoided by augmenting a dynamic scaling factor within the Moore–Penrose generalized inverse in the particular part of the generalized dynamic inversion control law. The involved null control vector in the auxiliary part of the generalized dynamic inversion control law is constructed to be linear in the pitch and yaw angular velocities, and the proportionality gain matrix is designed to guarantee global closed-loop asymptotic stability of the vehicle’s angular velocity dynamics. An additional sliding mode control element is included in the particular part of the generalized dynamic inversion control system, and it works to robustify the closed-loop system against tracking performance deterioration due to generalized inversion scaling, such that semi-global practically stable attitude tracking is guaranteed. A detailed six degrees-of-freedom mathematical model of the Monterey Bay Aquarium Research Institute autonomous underwater vehicle is used to evaluate the control system design, and numerical simulations are conducted to demonstrate closed-loop system performance under various types of autonomous underwater vehicle maneuvers, under both nominal and perturbed autonomous underwater vehicle system’s mathematical model parameters.

Sensitivity Reduction of Constraint Forces and Position Control for Mechanical Descriptor Systems

1997 ◽  
Vol 119 (2) ◽  
pp. 286-289
Author(s):  
Dan-chi Jiang ◽  
Wei-Yong Yan ◽  
K. L. Teo
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Position Control ◽  
Design Procedure ◽  
Descriptor Systems ◽  
Algebraic Riccati Equation ◽  
Systematic Design ◽  
Closed Loop System ◽  
Constraint Forces ◽  
Constrained System

This paper deals with the position and force control for mechanical systems with holonomic constraints. Our concern is the design of a feedback controller such that the closed-loop system has a satisfactory transient response and is less sensitive to various types of disturbances. Using an appropriate transformation, the constrained system is converted into an unconstrained system of lower order. Then, an H∞, control problem involving the reduced system is formulated. In the case of state feedback, a systematic design procedure for solving the problem is presented, where the key step is the solution of an algebraic Riccati equation. An example is given to illustrate the effectiveness of the proposed method.

Admissibility analysis for autonomous underwater vehicle based on descriptor model with time-varying delay

2021 ◽  
pp. 107754632110300
Author(s):  
Mohammad Hedayati Khodayari ◽  
Naser Pariz ◽  
Saeed Balochian
Keyword(s):  
Time Delay ◽  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Actuator Saturation ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Attraction Domain ◽  
Linear Matrix ◽  
Delay Model ◽  
Time Varying Delay

This article investigates an enhanced optimal robust time-delay stabilizer for an autonomous underwater vehicle in the descriptor model. Time-delay, model uncertainty, and actuator saturation constraint are some practical challenges in autonomous underwater vehicle controller design. In this regard, an appropriate autonomous underwater vehicle descriptor model is obtained, and sufficient stabilization conditions are determined in the terms of linear matrix inequality. The obtained criterion guarantees the system to be regular, impulse-free, and stable. Meanwhile, the delay-dependent and rate-dependent conditions are taken into account. Furthermore, uncertainty and time-delay are time-variant. This method includes a tuning factor for practical design aspects and tradeoff among desired requirements. Also, as an essential general requirement in non-linear systems, the maximal estimate of the attraction domain is proposed as an optimization problem. Numerical examples and simulations illustrate that the proposed methods are effective and useful in less conservative results. The technique can be generalized and applied to the most conventional autonomous underwater vehicles.

Time-Delay Controller Design for Position Control of Autonomous Underwater Vehicle Under Disturbances

2016 ◽  
Vol 63 (2) ◽  
pp. 1052-1061 ◽  
Author(s):  
Jongkyoo Kim ◽  
Hangil Joe ◽  
Son-cheol Yu ◽  
Jin S. Lee ◽  
Minsung Kim
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Underwater Vehicle

Observer-based event-triggered H∞ control for asynchronous switched delay systems

2020 ◽  
Vol 42 (12) ◽  
pp. 2254-2261
Author(s):  
Yang Yang ◽  
Baowei Wu ◽  
Yue-E Wang ◽  
Lili Liu
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Sufficient Conditions ◽  
Delay Systems ◽  
Economic Losses ◽  
System State ◽  
Closed Loop System ◽  
Lyapunov Function Method ◽  
Signal Method ◽  
Event Triggered

In this paper, the [Formula: see text] performance of observer-based asynchronous linear switched delay systems with an event-triggered sampling scheme is considered. Firstly, owing to the system state cannot be measured completely in practice, a state feedback observer is used to reconstruct the system state. Next, we design an event-triggered sampling mechanism, under which the sample of the system only occur when the error exceeds a predetermined threshold, so it will reduce economic losses. Then, considering the asynchronous switching between the subsystems and the controllers, some sufficient conditions are proposed by using merging switching signal method and multiple Lyapunov function method to ensure the [Formula: see text] performance of the asynchronous closed-loop system. Finally, a numerical example is given to illustrate the validity of the results.

Guaranteed Cost Control for a Class of Switched Descriptor Systems

2012 ◽  
Vol 546-547 ◽  
pp. 1030-1034
Author(s):  
Chun Yuan Zhao ◽  
Shu Hui Shi
Keyword(s):  
State Feedback ◽  
Cost Control ◽  
Convex Combination ◽  
Guaranteed Cost Control ◽  
Descriptor Systems ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Combination Technique ◽  
Switching Law ◽  
Guaranteed Cost

This paper deals with the problem of guaranteed cost control for a class of switched descriptor systems. State feedback guaranteed cost controller is adopted to make the resulting closed-loop system stable and cost function have an upper bound. Based on single Lyapunov function and convex combination technique, a switching law is designed and a sufficient condition of the existence of such controller is presented. By means of variables substitution and linear matrix inequality, the condition can be turned to LMI. The advantage of method presented in this paper is illustrated by an example.

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