Diving Adaptive Position Tracking Control for Underwater Vehicles

Ma, Zongcheng; Hu, Junhua; Feng, Jun; Liu, An

doi:10.1109/access.2019.2900448

Cited by 13 publications

(9 citation statements)

References 23 publications

(37 reference statements)

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“…The focus in this paper is on the robust control of an AUV with finite-time convergence. Different approaches have been proposed in the literatures dealing with the control of AUVs including adaptive control, [2][3][4][5][6] fuzzy control, 7,8 back-stepping control, 9,10 model predictive control, 11,12 and finite-time extended state observer based sliding-mode control. 13 In the following paragraphs, some representative research findings on the control of AUVs will be discussed.…”

Section: Introductionmentioning

confidence: 99%

Finite-time robust tracking control of an autonomous underwater vehicle in the presence of uncertainties and external current disturbances

Karkoub

2021

Advances in Mechanical Engineering

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The aim of this study is to achieve the trajectory-tracking control of an autonomous underwater vehicle (AUV) in the presence of random system uncertainties and external current disturbances. A comprehensive model of an AUV is developed based on its kinematic and dynamic models. By means of appropriate transformations, a new system dynamic equation with arguments of positions and orientations is obtained for the controller design. Here, a proposed finite-time robust tracking control (FTRTC) based on a nonlinear sliding surface constructed using the tracking error which leads not only to trajectory-tracking of the AUV system with a finite-time convergence, but also a high level of robust performance. The stability of the overall system is assured via the Lyapunov stability criteria. Computer simulations conducted using the developed controller demonstrates the feasibility and effectiveness of the proposed FTRTC. Moreover, the simulation results showed that the proposed control scheme resulted in a high level of robustness of the closed-loop control system.

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Section: Introductionmentioning

confidence: 99%

Finite-time robust tracking control of an autonomous underwater vehicle in the presence of uncertainties and external current disturbances

Karkoub

2021

Advances in Mechanical Engineering

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“…In view of the demand for the precise motion-control of underactuated UUVs in practical application, scholars devoted themselves to study this topic in recent decades. For underactuated UUVs, motion controllers are developed based on the following controller-design methods, including backstepping technique [7][8][9], sliding mode control (SMC) [5][6][7][10][11][12][13][14], adaptive control [8,[15][16][17][18][19], neural network [19][20][21][22][23][24], fuzzy logic control (FLC) [25][26][27]. To ensure UUV sailing at a constant altitude from the seabed, several related literatures have been published [13,14,28,29].…”

Section: Introductionmentioning

confidence: 99%

Bottom-Following Control of Underactuated Unmanned Undersea Vehicles With Input Saturation

Guo

Han

et al. 2020

IEEE Access

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This article addresses the subject for bottom-following control of underactuated unmanned undersea vehicles (UUVs) with input saturation in the presence of unknown model uncertainties and unknown external disturbances. A robust adaptive dynamic surface bottom-following control scheme is developed based on the recursive sliding mode with nonlinear gains and neural networks, which can steer an underactuated UUV to precisely follow the bottom profile at a constant altitude as a basic feature. The bottom-following guidance law is derived based on the Serret-Frenet frame, the line of sight (LOS) and Lyapunov's direct technique. Then, the bottom-following controller is designed based on the recursive sliding mode and dynamic surface control (DSC), to stabilize the bottom-following errors. The radial basis function neural networks (RBF NNs) are employed to online approximate the uncertain dynamics of underactuated UUVs, while the adaptive laws are introduced to estimate the bounds of the RBF NN approximation errors and unknown environmental disturbances. Additionally, an auxiliary dynamic system (ADS) is presented to handle the effect of input saturation. The uniform boundedness of all the closed-loop signals is guaranteed via Lyapunov analysis. The simulation results are presented to verify and illustrate the effectiveness of the proposed control scheme. INDEX TERMS Underactuated unmanned undersea vehicle, bottom-following, recursive sliding mode, input saturation, model uncertainties

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“…Moreover, submersible robotized vessels are subjected to model uncertainty and parametric variations while they are also affected by external perturbations [12][13][14][15][16]. For these reasons, the control problem of a submarine's depth and heading angle is a nontrivial one [17][18][19][20][21][22][23][24][25]. Previous results for the solution of this problem with the use of optimal control theory can be found in [26][27][28][29][30][31][32].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear optimal control of autonomous submarines’ diving

Rigatos

Siano

Zouari

et al. 2020

Mar Syst Ocean Technol

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The article presents a nonlinear H-infinity (optimal) control approach for the problem of the control of the depth and heading angle of an autonomous submarine. This is a multivariable nonlinear control problem and its solution allows for precise underwater navigation of the submarine. The submarine's dynamic model undergoes approximate linearization around a temporary equilibrium that is recomputed at each iteration of the control algorithm. The linearization procedure is based on Taylor series expansion and on the computation of the submarine's model Jacobian matrices. For the approximately linearized model, the optimal control problem is solved through the design of an H-infinity feedback controller. The computation of the controller's gain requires the solution of an algebraic Riccati equation, which is performed at each time-step of the control method. The global stability of the control scheme is proven through Lyapunov analysis. First, it is demonstrated that for the submarine's control loop, the H-infinity tracking performance criterion holds. Moreover, under moderate conditions, it is shown that the control scheme is globally asymptotically stable.

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Diving Adaptive Position Tracking Control for Underwater Vehicles

Cited by 13 publications

References 23 publications

Finite-time robust tracking control of an autonomous underwater vehicle in the presence of uncertainties and external current disturbances

Finite-time robust tracking control of an autonomous underwater vehicle in the presence of uncertainties and external current disturbances

Bottom-Following Control of Underactuated Unmanned Undersea Vehicles With Input Saturation

Nonlinear optimal control of autonomous submarines’ diving

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