A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV

Campos, E.; Monroy, Javier; Abundis, H.; Chemori, Ahmed; Creuze, Vincent; Torres, J.

doi:10.1016/j.ijnaoe.2018.04.002

Cited by 18 publications

(16 citation statements)

References 7 publications

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“…Differentiating both sides of the above Lyapunov function candidate (23), combing with error system (22), it is easy to obtain the following differential expression (24)…”

Section: Stability Analysis Of Intermediate State Variablesmentioning

confidence: 99%

“…[14][15][16][17][18] In recent years, more and more studies have been conducted on ocean exploration by UMV, and there are many research studies on the path following control of an underactuated UMV for ocean exploration, as path following control system is one the most important control systems for an UMV. [19][20][21][22] Accurate path following control plays an important role for UMV in the oceanic surveys and exploration, an adaptive nonlinear second-order sliding mode controller is proposed to eliminate the chattering motion through a sliding surface during the path following control by Zhang et al, 23 and David et al proposed a novel improved proportional-integral-derivative control approach that enables variable ballast systems on an UMV to complement the underwater vehicle's hydroplanes when altitude keeping over a variable seabed, 24 while subject to complex unknown nonlinearities including un-modeled dynamics, uncertainties, and unknown disturbances, a novel fuzzy uncertainty observerbased path following control scheme for an underactuated marine vehicle is proposed in the study by Wang et al 25 The cooperative path following problem of multiple underactuated UMVs involves two tasks, 26 which may be used to cooperative topographic survey, and the first one is to force each UMV to converge to the desired parameterized path, while the second one is to satisfy the requirement of a cooperative behavior along the paths. A path following control scheme for deep-sea work class remotely operated vehicles subjected to disturbing forces and moments generated by parameter variations, ocean currents, umbilical cables, and other unknown disturbances is designed, 27 while based on a multi-body system concept, a model is designed based on an adaptive controller and a disturbance model is analyzed, which compensates the dynamics of a finite element tether and multi-body underwater vehicle manipulator.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

Zhang

Sun

Zhuang

et al. 2019

International Journal of Advanced Robotic Systems

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Path following control system of an underactuated unmanned marine vehicle is an important guarantee for its successful operation, the path following control problem of an underactuated and asymmetrical unmanned marine vehicle sailing in the presence of ocean current disturbances is addressed. Asymmetry of the unmanned marine vehicle model and higher order velocity coupling terms of damping coefficients of the unmanned marine vehicle are discussed, which would improve the accuracy of the path following control system. A kind of global differential homeomorphism transformation design is proposed to solve the difficulty of nonzero term appearing in the non-diagonal elements of the system inertia coefficient matrix and damping coefficient matrix, which is caused by the model asymmetry of unmanned marine vehicle. An improved line-of-sight guidance algorithm is presented by introducing longitudinal position error and tracking error weight factor into traditional line-of-sight algorithm, which could speed up the path following process, meanwhile the method could be extended to the application of curve path following. Virtual velocity in the tangent direction of the path to be followed is designed for the control system, by increasing a virtual control input, the underactuated control system is simplified, and the higher order velocity coupling terms of damping coefficients are integrated considered in the virtual control law. Stability of the path following control algorithm proposed for unmanned marine vehicle is proved by Lyapunov theory, and some simulation experiments are carried out to verify the effectiveness of the path following control system designed.

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“…Differentiating both sides of the above Lyapunov function candidate (23), combing with error system (22), it is easy to obtain the following differential expression (24)…”

Section: Stability Analysis Of Intermediate State Variablesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

Zhang

Sun

Zhuang

et al. 2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Indeed, they depend on effects and properties that are hard to model or estimate, like added mass, skin friction, vortex shedding, fluid characteristics, etc. Therefore, we propose using a nonlinear PD controller [ 13 ].…”

Section: Control Strategymentioning

confidence: 99%

Modeling and Control of a Micro AUV: Objects Follower Approach

Monroy-Anieva

Rouviere

Campos‐Mercado

et al. 2018

Sensors

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This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.

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“…The energy effect is so high that the glider can continually glide over hundreds of kilometers for months. Open frame vehicles such as an ROV can operate at one spot with the help of multiple rotors [20]; the AUV cannot achieve this [21]. However, the cable connecting the ROV to the mother ship limits the work range of the ROV [2].…”

Section: Introductionmentioning

confidence: 99%

“…The design and control of an underwater vehicle involves many problems such as the nonlinearity of the model [13,21,23], underactuation [24], and the influence of the ocean current, waves, and turbulence [25].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of Negative-Buoyancy Tri-Tilt-Rotor Autonomous Underwater Vehicles Based on Immersion and Invariance Methodology

Wang

2018

Applied Sciences

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Spot hover and high speed capabilities of underwater vehicles are essential for ocean exploring, however, few vehicles have these two features. Moreover, the motion of underwater vehicles is prone to be affected by the unknown hydrodynamics. This paper presents a novel negative-buoyancy autonomous underwater vehicle equipped with tri-tilt-rotor to obtain these two features. A detailed mathematical model is derived, which is then decoupled to altitude and attitude subsystems. For controlling the underwater vehicle, an attitude error model is designed for the attitude subsystem, and an adaptive nonlinear controller is proposed for the attitude error model based on immersion and invariance methodology. To demonstrate the effectiveness of the proposed controller, a three degrees of freedom (DOF) testbed is developed, and the performance of the controller is validated through a real-time experiment.

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A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV

Cited by 18 publications

References 7 publications

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

Modeling and Control of a Micro AUV: Objects Follower Approach

Modeling and Control of Negative-Buoyancy Tri-Tilt-Rotor Autonomous Underwater Vehicles Based on Immersion and Invariance Methodology

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