A two‐step control approach for docking of autonomous underwater vehicles

Abstract

SummaryThis paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright © 2014 John Wiley & Sons, Ltd.

Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

“…Considering the closed-loop system consisting of the AUV (1)- (2) under Assumption 1, the tracking control law (32) with the adaptive laws (33) and (34), the virtual control (17), and the additional control in (25) with the auxiliary dynamic system (26). Under the condition −e (0) < e (0) < e (0), the actual trajectory of the AUV tracks the desired trajectory d with the prescribed control performance (6) by artfully adjusting the design parameters K 1 , K 2 , K 3 , , , H, Ω, Γ, , and the tracking error satisfies the prescribed performance (5).…”

“…Recent advances in marine robotics, sensors, computers, communications, and information systems are being applied to the development of sophisticated technologies that will lead to safer, faster, and far more efficient ways of exploring the ocean frontier, especially in hazardous environment. In recent years, there has been a surge of worldwide interest in the development of autonomous marine robots with the capability of roaming the oceans freely and collecting data underwater on an unprecedented scale . Representative examples are autonomous underwater vehicles (AUVs).…”

“…In recent years, there has been a surge of worldwide interest in the development of autonomous marine robots with the capability of roaming the oceans freely and collecting data underwater on an unprecedented scale. [1][2][3][4] Representative examples are autonomous underwater vehicles (AUVs). The trajectory tracking problem of the AUVs has received considerable attentions.…”

“…Furthermore, we proposed a novel additional control to handle the underactuation of the AUV. The error vector (19) is firstly changed into a new one with the additional control vector T( ) = [0, tanh( 2 ), 0] T z 2…”

“…] is a design matrix with K 3,ij > 0,Θ is the estimate of Θ * , and = diag(0, Λ 2 , 0) with 2 ) . N = diag(0, N 2 ( 2 ), 0), where N 2 ( 2 ) is the Nussbaum function given by…”