Constrained Control of Autonomous Underwater Vehicles Based on Command Optimization and Disturbance Estimation

Peng, Zhouhua; Wang, Jiasen; Wang, Jun

doi:10.1109/tie.2018.2856180

Cited by 199 publications

(54 citation statements)

References 49 publications

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“…where is a desired range and = atan2( , ) is a sideslip angle. Taking the time derivative of and in (8) and using (5) and 6…”

Section: Target Trackingmentioning

confidence: 99%

“…Recently, advanced motion control of marine vehicles has received significant attention due to its wide applications in hydrological monitoring, channel exclusion, search and rescue, biological detection, and so on [1][2][3][4][5][6][7]. Numerous motion control scenarios of marine vehicles have been considered including path following [8][9][10][11][12][13][14][15][16][17][18][19][20][21], path tracking [22,23], trajectory tracking [4,[24][25][26], and target tracking [2,[27][28][29][30][31][32][33][34].…”

Section: Introductionmentioning

confidence: 99%

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Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

2018

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This paper is concerned with the target tracking problem of an autonomous surface vehicle in the presence of a maneuvering target. The velocity information of target is totally unknown to the follower vehicle, and only the relative distance and angle between the target and follower are obtained. First, a reduced-order extended state observer is used to estimate the unknown relative dynamics due to the unavailable velocity of the target. Based on the reduced-order extended state observer, an antidisturbance guidance law for target tracking is designed. The input-to-state stability of the closed-loop target tracking guidance system is analyzed via cascade theory. Furthermore, the above result is extended to the case that collisions between the target and leader are avoided during tracking, and a collision-free target tracking guidance law is developed. The main feature of the proposed guidance law is twofold. First, the target tracking can be achieved without using the velocity information of the target. Second, collision avoidance can be achieved during target tracking. Simulation results show the effectiveness of the proposed antidisturbance guidance law for tracking a maneuvering target with the arbitrary bounded velocity.

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“…where is a desired range and = atan2( , ) is a sideslip angle. Taking the time derivative of and in (8) and using (5) and 6…”

Section: Target Trackingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

2018

Self Cite

View full text Add to dashboard Cite

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“…e robust compensation algorithm was proposed to attenuate the disturbance for the multi-AUVs in [26,27], in which the graph theory and the robust compensation theory were used to reach the multi-AUVs consensus with disturbances. In [28,29], the disturbance observer which estimated the disturbances to compensate the disturbances was proposed for the multi-AUVs, where the disturbance in each AUV is bounded. However, the disturbance observer is based on both the position state information and the velocity state information from the neighbours to estimate the disturbance.…”

Section: Introductionmentioning

confidence: 99%

Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances

Yan

Liu³

et al. 2020

Complexity

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We propose a consensus control strategy for multiple unmanned underwater vehicles (multi-UUVs) with unmeasurable disturbances under the fixed and switching topologies. The current methods presented in the literature mainly solve tracking consensus problems with the disturbances under the time-invariant and time-varying topologies, respectively. In the paper, considering the complex nonlinear and couple model of the UUV, the technique of the feedback linearization is employed to transform the nonlinear UUV model into a second-order integral UUV model. For unmeasurable disturbances consisting of unknown model uncertainties and external disturbance for each UUV, we design the distributed extended state observer (DESO) to estimate the disturbances using the UUV position information relative to its neighbours. Moreover, leader-following multi-UUVs consensus control algorithm that enables all following UUVs to track the leader UUV state information based on the estimation state information from the DESO is proposed for two types of topologies, the fixed and switching topologies. Finally, simulation results are shown to demonstrate the effectiveness of the algorithm proposed in the paper.

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“…At present, many scholars have carried out relevant research work on USV heading control and the control methods are mainly focused on sliding mode control, 4,5 adaptive control, 6 proportion, integral and derivative (PID) control, 7,8 intelligent control, [9][10][11][12] and so on. Miao et al 13 by combining the expert control technology, S plane and PID control algorithms, an adaptive expert S-PID control algorithm was proposed for heading control of the micro-USV and field tests were conducted.…”

Section: Introductionmentioning

confidence: 99%

Unmanned surface vessel heading control of model-free adaptive method with variable integral separated and proportion control

Jiang

Liao

Miao

et al. 2019

International Journal of Advanced Robotic Systems

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Based on model-free adaptive control theory, the heading control problem of unmanned surface vessels under uncertain influence is explored. Firstly, the problems of compact form dynamic linearization model-free adaptive control method applied to unmanned surface vessel heading control are analyzed. Secondly, by introducing proportional control and variable integral separation factor, an variable integral separation model-free adaptive control algorithm with proportional control is proposed. The introduction of proportional control and variable integral separation factor solves the problems of oscillation, instability, and integral saturation when rudder angle is controlled directly to control the heading of unmanned surface vessel with compact form dynamic linearization model-free adaptive control method. Finally, the effectiveness of the method is verified by the simulation and field experiments results of heading control with model perturbation and system time delay in unmanned surface vessel heading subsystem.

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Constrained Control of Autonomous Underwater Vehicles Based on Command Optimization and Disturbance Estimation

Cited by 199 publications

References 49 publications

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances

Unmanned surface vessel heading control of model-free adaptive method with variable integral separated and proportion control

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