In this paper, contraction theory is applied to design a control law to address the horizontal trajectory tracking problem of an underactuated autonomous underwater vehicle. Suppose that the vehicle faces challenges such as model uncertainties, external environmental disturbances, and actuator saturation. Firstly, a coordinate transformation is introduced to solve the problem of underactuation. Then, a disturbance observer is designed to estimate the total disturbances, which are composed of model uncertainties and external environmental disturbances. Next, a saturated controller is designed based on singular perturbation theory and contraction theory. Meanwhile, contraction theory is used to analyse the convergence properties of the observer and the full singular perturbation system, and make quantitative analysis of the estimation error and the tracking error. Finally, the results of numerical simulations prove that the method in this paper enables the vehicle to track the desired trajectory with relatively high accuracy, while the control inputs do not exceed the limitations of the actuators.
In this paper, contraction theory is applied to design the trajectory tracking controller for a fully-actuated 6-degree-of-freedom (6-DOF) autonomous underwater vehicle (AUV). First, assuming that all system parameters are known, an ideal controller is given. Then, to deal with the parameter uncertainties, an adaptive controller is proposed. Combined with the adaptive law, the estimated values of the parameters converge to their real values without requiring the persistent excitation (PE) condition to be satisfied, that is, the parameter identification is realized. Exponential convergence of the system is analyzed in the framework of contraction theory. The concepts of partial contraction, virtual system and modular properties reduce the difficulty of system design and analysis. The numerical simulation results show the effectiveness of the proposed method.
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