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

Abstract

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.

Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance

“…In the process of the robot motion control and trajectory tracking, there are generally two kinds of ways to deal with ocean current disturbance. One is to deal with current disturbance by improving the robustness of the model-free control algorithm [26][27][28]. In addition, the control input can also be compensated by the observed disturbance force through the ocean current observer [29][30][31].…”

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

“…There was no sufficiently detailed data in the literature to make an accurate comparison. The inversion controller and time-constraint stability controller have distinctive advantages of simple structure, easily-realized high precision, and strong robustness, which already presented some successful practical realizations [ 7 , 8 , 9 , 10 ]. To achieve time-constraint convergence of the tracking errors of Unmanned Underwater Vehicles (UUV), Josué et al proposed a model-free high order sliding mode controller with a time-base generator.…”

“…Simulation results showed that the designed controller can achieve the desired trajectory at the finite time. As the less accurate control design model is obtained whose shortcomings are compensated for using a suitable robust control method, the comprehensive system model was used to design a finite-time robust tracking control (FTRTC) of the autonomous underwater vehicle (AUV) model dynamically [ 8 ]. The overall system stability was demonstrated via Lyapunov theory through simulations.…”

“…A depth error of 1 m was produced within 20 s in the depth-tracking process. However, the whole performance of the aforementioned inversion controller and time-constraint stability controller were not put into practice [ 7 , 8 , 9 , 10 ]. The settling time and depth error need to be improved by tuning the aforementioned controller parameters.…”

“…Comparing the advantages and disadvantages of various depth-control strategies [ 5 , 6 , 7 , 8 , 9 , 10 ], it can be seen that the inversion method has been widely used in underwater vehicles motion control technology and achieved good results. At the same time, the time-constraint stability strategy has strong robustness and better anti-disturbance performance, and the state of the system can converge to the equilibrium state in a finite time.…”