Backstepping Control Method for the Trajectory Tracking for the Underactuated Autonomous Underwater Vehicle

2013 ◽  
Vol 798-799 ◽  
pp. 484-488 ◽  
Author(s):  
Lei Wan ◽  
Nan Sun ◽  
Yu Lei Liao
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underactuated System ◽  
Strong Nonlinearity ◽  
Parameter Uncertainties ◽  
Path Following Control

The underactuated autonomous underwater vehicles (AUV) have the characteristics of strong nonlinearity and model uncertainty. A method of backstepping path following control was raised for the trajectory tracking control problem of the AUV under Serret-Frenet frame. It transformed the original underactuated system into an actuated nonlinear system based on simplified analysis. A backstepping trajectory tracking controller was proposed based on backstepping method. By means of Lyapunov stability theory, it was proven that the proposed controller can guarantee the path following control system globally asymptotically stable. Simulation experiments show that the control system has good adaptability and robustness in case of parameter uncertainties and external disturbances to avoid shaking of performance.

Horizontal path following for underactuated AUV based on dynamic circle guidance

Robotica ◽  
2015 ◽  
Vol 35 (4) ◽  
pp. 876-891 ◽  
Author(s):  
Huang Xinjing ◽  
Li Yibo ◽  
Du Fei ◽  
Jin Shijiu
Keyword(s):  
Control Method ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Mapping Function ◽  
Convex Mapping ◽  
Guidance And Control ◽  
Path Following Control ◽  
And Control ◽  
Cross Track ◽  
Path Point

SUMMARYA 2D path following control method for Autonomous Underwater Vehicles (AUVs) based on dynamic circle heading modification (DCHM) is presented. The method makes a dynamic auxiliary circle, whose radius depends on the cross-track error e, to intersect the desired path to get a new expected path point, and then determines a modified expected heading for the AUV. The guidance function is achieved by a direct mapping between e and the heading modification value Ψm. Several cases are tested in order to demonstrate the performance of the guidance and control method based on DCHMs for a real AUV. Results show that methods using a convex mapping function between e and Ψm based on our new idea can easily achieve a better convergence of path following, and reduce the error between the actual and desired heading angles. We can also customize a discretionary mapping between e and Ψm to get better path following performance.

scholarly journals The path-following control of the underactuated AUV with input saturation and multiple disturbances

2021 ◽  
Vol 2121 (1) ◽  
pp. 012044
Author(s):  
Xingyu Sun ◽  
Jianming Miao ◽  
Kankan Deng ◽  
Yanyun Wang
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Direct Method ◽  
Input Saturation ◽  
Path Following ◽  
Parameter Uncertainties ◽  
Multiple Disturbances ◽  
Path Following Control ◽  
Nonlinear Tracking ◽  
Underactuated Auv ◽  
Norm Bound

Abstract Autonomous underwater vehicle (AUV) in marine resource surveys plays an important role. This paper proposes a new path-following control frame for the underactuated AUV with input saturation and multiple disturbances. The disturbances include external disturbances, model parameter uncertainties, unmodeled dynamics and other random disturbances. Compared to most of previously published literatures, which treat disturbances as lumped disturbances, a composite hierarchical anti-disturbance control (CHADC) strategy is adopted to achieve higher precision path following. A disturbance observer (DOB) is constructed to estimate and eliminate the disturbances with partial known information, while the H ∞ theory is used to optimize the path-following controller to attenuate the other disturbances satisfying the L 2-norm bound condition and improve the robustness of system. Besides, Lyapunov direct method and back-stepping method are used to design the path-following controller, where the input saturation is considered, the extended state observer (ESO) is used to estimate the uncertainty of kinematic controller and the nonlinear tracking differentiator (NTD) is used to simplify the controller. Finally, simulations are given to demonstrate the effectiveness of the proposed control law.

scholarly journals Three-dimensional path following control of underactuated autonomous underwater vehicle based on damping backstepping

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772417 ◽  
Author(s):  
Xiao Liang ◽  
Xingru Qu ◽  
Yuanhang Hou ◽  
Jundong Zhang
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Path Following ◽  
Ocean Current ◽  
Singular Problem ◽  
Stable Theory ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Path Following Control ◽  
Following Error

This article addresses the problem of three-dimensional path following control for underactuated autonomous underwater vehicles in the presence of ocean current. Firstly, three-dimensional path following error model was established based on virtual guidance method. The control law is developed by building virtual velocity errors and backstepping method, which can simplify the virtual control input and avoid the singular problem induced by initial state constraints. Considering the curvature and torsion characteristics of the three-dimensional desired path, the approaching angle is introduced to guarantee fast convergence of error. Nonlinear damping term is introduced to offset the effects of dynamic uncertainties and external disturbances. The controller stability was proved by Lyapunov stable theory. Finally, simulations were conducted and the results indicate the effectiveness and robustness to parameter uncertainties and external disturbances of the proposed approach.

scholarly journals Oscillatory Adaptive Yaw-Plane Control of Biorobotic Autonomous Underwater Vehicles Using Pectoral-Like Fins

2007 ◽  
Vol 4 (4) ◽  
pp. 137-147 ◽  
Author(s):  
Mugdha S. Naik ◽  
Sahjendra N. Singh
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Angle Measurement ◽  
Trajectory Control ◽  
Physical Parameters ◽  
Sampled Data ◽  
Parameter Uncertainties ◽  
Marine Animals ◽  
Yaw Angle

This article considers the control of a biorobotic autonomous underwater vehicle (BAUV) in the yaw plane using biologically inspired oscillatory pectoral-like fins of marine animals. The fins are assumed to be oscillating harmonically with a combined linear (sway) and angular (yaw) motion producing unsteady forces, which are used for fish-like control of BAUVs. Manoeuvring of the BAUV in the yaw plane is accomplished by altering the bias (mean) angle of the angular motion of the fin. For the derivation of the adaptive control system, it is assumed that the physical parameters, the hydrodynamic coefficients, and the fin force and moment are not known. A direct adaptive sampled-data control system for the trajectory control of the yaw-angle using only yaw-angle measurement is derived. The parameter adaptation law is based on the normalised gradient scheme. Simulation results for the set point control, sinusoidal trajectory tracking and turning manoeuvres are presented, which show that the control system accomplishes precise trajectory control in spite of the parameter uncertainties.

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.

scholarly journals Neural Network Control for Trajectory Tracking and Balancing of a Ball-Balancing Robot with Uncertainty

2021 ◽  
Vol 11 (11) ◽  
pp. 4739
Author(s):  
Hyo-Geon Jang ◽  
Chang-Ho Hyun ◽  
Bong-Seok Park
Keyword(s):  
Neural Network ◽  
Control System ◽  
Trajectory Tracking ◽  
Control Method ◽  
Tracking Error ◽  
System Structure ◽  
Underactuated System ◽  
Dynamic Surface ◽  
Comparison Results ◽  
Balancing Robot

In this paper, a neural-network-based control method to achieve trajectory tracking and balancing of a ball-balancing robot with uncertainty is presented. Because the ball-balancing robot is an underactuated system and has nonlinear couplings in the dynamic model, it is challenging to design a controller for trajectory tracking and balancing. Thus, various approaches have been proposed to solve these problems. However, there are still problems such as the complex control system and instability. Therefore, the objective of this paper was to propose a solution to these problems. To this end, we developed a virtual angle-based control scheme. Because the virtual angle was used as the reference angle to achieve trajectory tracking while keeping the balance of the ball-balancing robot, we could solve the underactuation problem using a single-loop controller. The radial basis function networks (RBFNs) were employed to compensate uncertainties, and the controller was designed using the dynamic surface control (DSC) method. From the Lyapunov stability theory, it was proven that all errors of the closed-loop control system were uniformly ultimately bounded. Therefore, the control system structure was simple and ensured stability in achieving simultaneous trajectory tracking and balancing of the ball-balancing robot with uncertainty. Finally, the simulation results are given to verify the performance of the proposed controller through comparison results. As a result, the proposed method showed a 19.2% improved tracking error rate compared to the existing method.

scholarly journals Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles

2020 ◽  
Vol 10 (21) ◽  
pp. 7894
Author(s):  
Sergey Ulyanov ◽  
Igor Bychkov ◽  
Nikolay Maksimkin
Keyword(s):  
Control System ◽  
Path Planning ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Discrete Event ◽  
Path Following ◽  
Level Control ◽  
Reference Path ◽  
Turning Radius ◽  
Event Based

The paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joined lines and arcs, bypassing obstacles encountered on the path. A two-level control system is proposed with an upper level for event-driven path planning and a lower level for path-following. A discrete event system is designed to identify situations that require planning a new path. An improved waypoint guidance algorithm and a Dubins curves based algorithm are proposed to build paths that allow the AUV to avoid collision with obstacles and to return to the reference path respectively. Both algorithms generate paths that meet the minimum turning radius constraint. A robust parameter-varying controller is designed using sublinear vector Lyapunov functions to solve the path-following problem. The performance of the developed event-based control system is demonstrated in three different simulation scenarios: with a sharp-edged obstacle, with a U-shaped obstacle, and with densely scattered obstacles. The proposed scheme does not require significant computing resources and allows for easy implementation on board.

scholarly journals Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Modelin the Presence of Static Obstacles

2021 ◽  
Vol 9 (6) ◽  
pp. 652
Author(s):  
Haitong Xu ◽  
Miguel A. Hinostroza ◽  
C. Guedes Guedes Soares
Keyword(s):  
Control System ◽  
Vector Field ◽  
Path Following ◽  
Field Method ◽  
Integrated System ◽  
Ship Model ◽  
Surface Ship ◽  
Path Following Control ◽  
Exponentially Stable ◽  
Vector Field Method

A modified path-following control system using the vector field method for an underactuated autonomous surface ship model is proposed in the presence of static obstacles. With this integrated system, autonomous ships are capable of following the predefined path, while avoiding the obstacles automatically. It is different from the methods in most published papers, which usually study path-following and obstacle collision avoidance, separately. This paper considers the coupled path following and collision avoidance task as a whole. Meanwhile, the paper also shows the heading control design method in the presence of static obstacles. To obtain a strong stability property, a nonlinear autopilot is designed based on the manoeuvring tests of the free-running ship model. The equilibrium point of the controller is globally exponentially stable. For the guidance system, a novel vector field method was proposed, and the proof shows the coupled guidance and control system is uniform semi-global exponentially stable (USGES). To prevent the obstacles near the predefined path, the proposed guidance law is augmented by integrating the repelling field of obstacles so that it can control the ship travel toward the predefined path through the obstacles safely. The repelling field function is given considering the obstacle shape and collision risk using the velocity obstacle (VO) algorithm. The simulations and ship model test were performed to validate the integrated system of autonomous ships.

Safe Navigation Algorithm for Autonomous Underwater Vehicles

2021 ◽  
Vol 29 (1) ◽  
pp. 97-110
Author(s):  
V.S. Bykova ◽  
◽  
A.I. Mashoshin ◽  
I.V. Pashkevich ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Limited Size ◽  
Safe Navigation ◽  
Navigation Algorithm ◽  
Navigation Algorithms ◽  
Ice Edge

Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

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