Backstepping active disturbance rejection control for trajectory tracking of underactuated autonomous underwater vehicles with position error constraint

Abstract

In this article, the three-dimensional trajectory tracking control of an autonomous underwater vehicle is addressed. The vehicle is assumed to be underactuated and the system parameters and the external disturbances are unknown. First, the five degrees of freedom kinematics and dynamics model of underactuated autonomous underwater vehicle are acquired. Following this, reduced-order linear extended state observers are designed to estimate and compensate for the uncertainties that exist in the model and the external disturbances. A backstepping active disturbance rejection control method is designed with the help of a time-varying barrier Lyapunov function to constrain the position tracking error. Furthermore, the controller system can be proved to be stable by employing the Lyapunov stability theory. Finally, the simulation and comparative analyses demonstrate the usefulness and robustness of the proposed controller in the presence of internal parameter uncertainties and external time-varying disturbances.

Use of a nonlinear controller with dynamic couplings in gains for simulation test of an underwater vehicle model

“…Such assumption concerning thrust force limit is made often, for example, in the literature. 17,28 Assumption 2. The following inequality is assumed…”

“…24 In the current literature, more other control algorithms can be found, for example, combination of fuzzy logic, genetic algorithm, and SMC, 25 model predictive control, 26 a method in which the port-Hamiltonian theory is applied, 5 combination of recurrent neural network and receding horizon optimization, 27 combination of SMC and backstepping, 14 and backstepping active disturbance rejection control. 28 The problems discussed in this article concern the model-based algorithm in the earth-fixed representation and six degrees-of-freedom (6DOF) fully actuated vehicles. Such algorithms have been developed in the past many times.…”

Nonlinear Fractional Active Disturbance Rejection Speed Control for Stabilization of Hydraulic Turbine Regulating Systems With Mechanical Delay

“…The disturbance compensation device (DCD) can estimate and compensate for various uncertainties within the system and cross-coupled disturbances between channels [17]. In recent years, with deeper research, ADRC has been successfully applied to the control of various uncertain industrial processes involving the flight system [18], trajectory tracking system [19], motor system [20], power system [21], etc. The literature [19] analyzed the stability and robustness of the NADRC for the three-dimensional trajectory tracking control system with mismatched uncertainties.…”

Simulation-based usability testing of some tracking controllers for underactuated underwater vehicles using simplified criteria

“…[4,5], B Przemyslaw Herman przemyslaw.herman@put.poznan.pl 1 Institute of Automatic Control and Robotics, Poznan University of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland backstepping technique and Lyapunov's direct method [6,7], backstepping and integral SMC [8], backstepping technique based on proportional integral (PI) sliding mode control [9], backstepping with active disturbance rejection control [10] or an output feedback control applying linear stability theory and backstepping technique [11]. The SMC algorithms were also proposed for underactuated underwater and surface vehicles many times, for example in [12,13].…”