DO-LPV-based robust 3D path following control of underactuated autonomous underwater vehicle with multiple uncertainties

Zhang, Yuwei; Wang, Xingjian; Wang, Shaoping; Jin, Miao

doi:10.1016/j.isatra.2020.01.017

Cited by 33 publications

(14 citation statements)

References 36 publications

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“…Considering the adaptive law ( 20) and ( 21) and the sliding mode dynamic system (22), the derivative of V s is derived as:…”

Section: Adaptive Sliding Mode Controller Designmentioning

confidence: 99%

“…In order to solve the above control problems, the relevant literature was investigated 22–32 . Sliding mode control, known for its robustness against external disturbances and system uncertainties, has been extensively employed by researchers in the design of fault‐tolerant control methods.…”

Section: Introductionmentioning

confidence: 99%

“…In order to solve the above control problems, the relevant literature was investigated. [22][23][24][25][26][27][28][29][30][31][32] Sliding mode control, known for its robustness against external disturbances and system uncertainties, has been extensively employed by researchers in the design of fault-tolerant control methods. To concurrently manage matched and mismatched disturbances within the system, a novel sliding mode control design methodology was introduced in the paper.…”

mentioning

confidence: 99%

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Adaptive integral sliding mode fault‐tolerant control for diesel engine air path system via disturbance observer

Wu,

Wang,

Zhang

et al. 2024

Intl J Robust & Nonlinear

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This paper proposes a fault‐tolerant control strategy for the air path system of a turbocharged diesel engine, considering the simultaneous presence of matched and mismatched external disturbances, additive and loss of effectiveness fault modes in the EGR and VGT subsystems. Firstly, a disturbance observer based on theory is designed for estimating additive faults and external disturbances, and the upper bound of observation error is obtained. Based on the observation information, an integral sliding mode surface is designed, and the effectiveness of the sliding mode surface is analyzed. For the loss of effectiveness faults in the actuators, a novel adaptive update sliding mode controller is designed. The proposed control algorithm can get the fault information of the system and achieve fault‐tolerant control of through controller reconstruction. Ultimately, the effectiveness of the proposed method is validated through simulations and comparative analysis.

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“…Considering the adaptive law ( 20) and ( 21) and the sliding mode dynamic system (22), the derivative of V s is derived as:…”

Section: Adaptive Sliding Mode Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

See 1 more Smart Citation

Adaptive integral sliding mode fault‐tolerant control for diesel engine air path system via disturbance observer

Wu,

Wang,

Zhang

et al. 2024

Intl J Robust & Nonlinear

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“…To facilitate the design of the path-following controller, the reasonable assumptions taken into consideration are summarized as follows: ≤ d υ (l = 0, 1), where d υ is an unknown positive constant [34,40]. Assumption 2.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Compared to other currently available observer techniques, such as the unknown input observer (UIO), the uncertainty and disturbance estimator (UDE), and other disturbance and uncertainty estimation techniques, it has been proved that ESO requires minimum information about a dynamical system [31]. Therefore, it is appealing to utilize ESO to estimate the unknown velocity and disturbances in the underactuated AUVs [32][33][34]. In [33], an ESO-based disturbance rejection method, combined with neurodynamic optimization method, was proposed for path-following control of underactuated AUVs with velocity and input constraints, as well as internal and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust Path-Following Control of Underactuated AUVs with Multiple Uncertainties in the Vertical Plane

Jin

Deng

Zhang

et al. 2022

JMSE

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The current study employs a novel nonlinear robust control approach for path-following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties in the vertical plane. Firstly, a nonlinear underactuated AUV model is established to characterize the dynamics of AUV and path-following error. To resolve dependence on a detailed model that appeared in previous studies, the unknown time-varying attack angular velocity in the dynamic model of the path-following error is considered as the kinematic uncertainty, while the linear superposition of the external environmental disturbances, the perturbations in the internal model parameters, and other unmodeled dynamics in the dynamic model is chosen as lumped dynamic uncertainties. Several reduced-order extended state observers (ESOs) are designed for estimating both of these uncertainties. Secondly, to reduce the impact of input saturation and avoid the “explosion of complexity” associated with traditional back-stepping method, a nonlinear track differentiator (NTD) is utilized to follow the virtual control signal and its derivative. Thirdly, the constructed reduced-order ESOs and NTD are adopted to establish an augmented back-stepping controller, where its ability to stabilize the overall system is demonstrated using the Lyapunov theorem. Finally, extensive simulations and analyses in various working conditions, including the nominal working condition without disturbances, the working condition with multiple uncertainties, and the conditions which better replicate the actual environment, are performed to demonstrate the effectiveness, superiority, and robustness of the designed controller.

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Three‐dimensional path following control of underactuated autonomous underwater vehicles with nonzero roll dynamics: A novel line‐of‐sight‐guided approach

Zhang,

Li,

Wang

et al. 2024

Intl J Robust & Nonlinear

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Most existing path following control approaches for underactuated Autonomous underwater vehicles (AUVs) assumed that the roll angle can be passively stabilized at zero, and simplified the problem to the 5‐degree‐of‐freedom model. However, in practice, the roll motion suffers from undesirable oscillations induced by environmental disturbances, unbalanced propeller torque, etc. To preserve the stability of the system under nonzero roll dynamics, this paper proposes a novel line‐of‐sight‐ (LOS) guided path following control approach. Firstly, the spatial path following error dynamics model is derived to comprehensively reveal the negative effect of roll dynamics. Secondly, an improved LOS guidance law is designed to compensate for the nonzero roll angle. A salient feature is that the proposed guidance law can be applied to the underwater vehicle no matter it is underactuated in the roll motion or not. Thirdly, by assigning the guidance angles to the desired attitude angles, a robust attitude tracking controller is developed, in which the adaptive estimation technique is employed to handle the lumped uncertainties. The tanh‐based saturation function is incorporated such that the resultant control signals are inherently bounded. The closed‐loop path following and attitude tracking errors are proved to be globally asymptotically stable at the origin. Comparative simulation results are provided to substantiate the effectiveness and superiority of the proposed method.

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DO-LPV-based robust 3D path following control of underactuated autonomous underwater vehicle with multiple uncertainties

Cited by 33 publications

References 36 publications

Adaptive integral sliding mode fault‐tolerant control for diesel engine air path system via disturbance observer

Adaptive integral sliding mode fault‐tolerant control for diesel engine air path system via disturbance observer

Robust Path-Following Control of Underactuated AUVs with Multiple Uncertainties in the Vertical Plane

Three‐dimensional path following control of underactuated autonomous underwater vehicles with nonzero roll dynamics: A novel line‐of‐sight‐guided approach

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