Robust stabilization for an autonomous underwater vehicle motion based on descriptor time-delay model

Abstract

This article introduces a new technique for stabilizing autonomous underwater vehicles in the descriptor model. Autonomous underwater vehicle stabilization is limited by several constraints, including time-variable uncertainty, time delay, and disturbances. The interaction of descriptor system requirements and the issues mentioned above adds complexities. This study outlines the delay-dependent [Formula: see text] robust stability achieved through memory-less and memory state feedback. Furthermore, a less conservative sufficient condition is obtained for admissibility using a new delay-dependent linear matrices inequality. Autonomous underwater vehicle is regular, impulse-free, and stable under all permissible conditions and satisfies prescribed [Formula: see text] performance conditions via a Lyapunov functional approach. The method applies to neutral and retarded dynamics with discrete and distributed time delays.

Adaptive nonsingular fast terminal sliding mode control for the tracking control of underactuated autonomous underwater vehicles

“…From equation (13), it is clearly observed that _ V 1 ł 0 since k x , k y , k z . 0; hence, the proposed kinematic controller is stable.…”

“…In the literature, different control methods have been suggested to control the motion of underwater vehicles. The recent advanced control approaches like backstepping control, 5 fuzzy control, 6 time delay control (TDC), 7 neural network control, 8 sliding mode control (SMC), 9–11 higher-order sliding mode control (HSMC), 12 H ∞ control, 13 model predictive control (MPC), 14 adaptive control, 15 and the combination of these control approaches are utilized to enhance the tracking efficiency of these vehicles.…”

Composite adaptive control of submarine and parameter identification by integral regressor excitation

“…A descriptor time-delay AUV model has been considered for the design of a robust H ∞ control system. 19 The authors have developed robust sliding mode and adaptive sliding mode control systems for AUVs. 20–22 Model predictive control (MPC) systems were also designed for AUVs under practical constraints.…”