Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

Continuous–Discrete Observation-Based Robust Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

“…The proposed CDO-S + RISE control scheme (designed in Sections III and IV) was implemented and tested in real time using a holonomic underwater vehicle named Leonard ROV, available at LIRMM, University of Montpellier, CNRS. Although the technical features of Leonard underwater vehicle are described in [4] and [25], we propose revisiting them to clearly demonstrate one of the critical issues addressed in the present work. The vehicle is equipped with six independent propellers, which provide thrust to the vehicle when operated in either the autonomous or shared control mode (i.e., with a human pilot in the loop).…”

“…1. The reference frames facilitate the navigation and control of the vehicle and are usually named based on the SNAME (Society of Naval Architects and Marine Engineers) standard [25]:…”

“…where M M M ∈ R 6×6 is the inertia matrix, including both rigidbody and added mass, C C C(ν ν ν) ∈ R 6×6 is the Coriolis and centripetal matrix, D D D(ν ν ν) ∈ R 6×6 is the damping matrix, g g g(η η η) ∈ R 6×1 is the vector of gravity and buoyancy, τ τ τ ∈ R 6×1 is the vector of the control inputs produced by the thrusters, and ω ω ω(t) ∈ R 6×1 is a time-varying vector representing the disturbances. The techniques for estimating these dynamic parameters in (5) are described in [25]. It is noteworthy that the matrices M M M and C C C of our vehicle dynamics in (5) are partially known, whereas D D D is uncertain.…”

A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics

“…where L 4 is the output of the shunting model that is defined in (6). The Lyapunov candidate function for the bioinspired sliding mode controller is proposed as…”

“…The research on unmanned underwater vehicles (UUVs) has been ongoing for many years [1][2][3][4][5][6][7]. There are wide applications for UUVs, such as ocean surveillance, fishing, and submarine construction surveys.…”