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

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.

Uneven declines between corals and cryptobenthic fish symbionts from multiple disturbances

With the onset and increasing frequency of multiple disturbances, the recovery potential of critical ecosystem-building species and their mutual symbionts is threatened. Similar effects to both hosts and their symbionts following disturbances have been assumed. However, we report unequal declines between hosts and symbionts throughout multiple climate-driven disturbances in reef-building Acropora corals and cryptobenthic coral-dwelling Gobiodon gobies. Communities were surveyed before and after consecutive cyclones (2014, 2015) and heatwaves (2016, 2017). After cyclones, coral diameter and goby group size (i.e., the number of gobies within each coral) decreased similarly by 28–30%. After heatwave-induced bleaching, coral diameter decreased substantially (47%) and gobies mostly inhabited corals singly. Despite several coral species persisting after bleaching, all goby species declined, leaving 78% of corals uninhabited. These findings suggest that gobies, which are important mutual symbionts for corals, are unable to cope with consecutive disturbances. This disproportionate decline could lead to ecosystem-level disruptions through loss of key symbiont services to corals.