Improved line-of-sight nonlinear trajectory tracking control of autonomous underwater vehicle exposed to high variable speed ocean currents

Chen, Wei; Liu, Xulin; Feng, Zhenghe; Yong-qiang, Tian; Leng, Jianxing; Zhu, Rong

doi:10.1016/j.oceaneng.2023.114149

Cited by 3 publications

(1 citation statement)

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“…[20] (controller with fuzzy observer). A method using a combination of improved line-of-sight, an improved extended disturbance observer and fuzzy control was developed in [21]. There are also many other control schemes that are composed of different approaches, for example, combining high-gain extended state observer, kinematic and dynamic law [22], the virtual vehicle method, kinematic controllers, and proportional-integral-derivative sliding mode control (PID-SMC) [23].…”

Section: Introductionmentioning

confidence: 99%

Model Simplification for Asymmetric Marine Vehicles in Horizontal Motion—Verification of Selected Tracking Control Algorithms

Herman

2024

Electronics

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This paper addresses a trajectory tracking control algorithm for underactuated marine vehicles moving horizontally in which the current in the North–East–Down frame is constant. This algorithm is a modification of a control scheme based on the input-output feedback linearization method, for which the application condition was that the vehicle was symmetric with respect to the left and right sides. The proposed control scheme can be applied to a fully asymmetric model, and, therefore, the geometric center can be different from the center of mass in both the longitudinal and lateral directions. A velocity transformation to generalized vehicle equations of motion was used to develop a suitable controller. Theoretical considerations were supported by simulation tests performed for a model with 3 degrees of freedom, in which the performance of the proposed algorithm was compared with that of the original algorithm and the selected control scheme based on a combination of backstepping and integral sliding mode control approaches.

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