Robust trajectory control for an autonomous underwater vehicle

Yang, Yuenan; Yang, Kuang Shine; Chen, C. Y.; Mu, Lingxia; Chiu, Yun-Jen; Yu, Caoyang; Yang, Wen-Lian

doi:10.1109/oceans-bergen.2013.6607946

Cited by 3 publications

(3 citation statements)

References 12 publications

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“…Robust sliding mode controller Successfully controls the AUV roll angle, pitch angle and yaw angle within 10 s. [106] Sliding mode variable structure control…”

Section: Improve Control Accuracymentioning

confidence: 99%

AUV Trajectory Tracking Models and Control Strategies: A Review

2021

JMSE

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Autonomous underwater vehicles (AUVs) have been widely used to perform underwater tasks. Due to the environmental disturbances, underactuated problems, system constraints, and system coupling, AUV trajectory tracking control is challenging. Thus, further investigation of dynamic characteristics and trajectory tracking control methods of the AUV motion system will be of great importance to improve underwater task performance. An AUV controller must be able to cope with various challenges with the underwater vehicle, adaptively update the reference model, and overcome unexpected deviations. In order to identify modeling strategies and the best control practices, this paper presents an overview of the main factors of control-oriented models and control strategies for AUVs. In modeling, two fields are considered: (i) models that come from simplifications of Fossen’s equations; and (ii) system identification models. For each category, a brief description of the control-oriented modeling strategies is given. In the control field, three relevant aspects are considered: (i) significance of AUV trajectory tracking control, (ii) control strategies; and (iii) control performance. For each aspect, the most important features are explained. Furthermore, in the aspect of control strategies, mathematical modeling study and physical experiment study are introduced in detail. Finally, with the aim of establishing the acceptability of the reported modeling and control techniques, as well as challenges that remain open, a discussion and a case study are presented. The literature review shows the development of new control-oriented models, the research in the estimation of unknown inputs, and the development of more innovative control strategies for AUV trajectory tracking systems are still open problems that must be addressed in the short term.

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“…Robust sliding mode controller Successfully controls the AUV roll angle, pitch angle and yaw angle within 10 s. [106] Sliding mode variable structure control…”

Section: Improve Control Accuracymentioning

confidence: 99%

AUV Trajectory Tracking Models and Control Strategies: A Review

2021

JMSE

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“…Several nonlinear sliding-mode approaches are proposed in [10–12] for trajectory-tracking control of an underactuated USV. A robust sliding-mode controller and a second sliding-mode controller are separately proposed in [13] and [14] for trajectory-tracking control of an AUV. The controller in [14] comprises an equivalent controller and a switching controller, where the switching controller compensates for the uncertainties of the vehicle's hydrodynamic and hydrostatic parameters.…”

Section: Introductionmentioning

confidence: 99%

“…Meanwhile, as we can see from [2], ocean current is one of the most important environmental disturbances for an UMV working in the infinitely vast ocean; however, few studies have explicitly addressed ocean current in controller design, and no detailed descriptions of distinct trajectory-tracking control performances in the presence of different ocean-current velocities and direction angles have been presented. The well-known persistent exciting (PE) condition is required in [13, 17–19, 22, 24, 28, 38, 41], though the methods proposed in [11, 37] only need a mild PE condition; complete elimination of the PE condition is still difficult in trajectory-tracking control of an underactuated UMV. In the papers [25, 39, 40], the trajectory-tracking problem is decomposed into several sub-problems, separately considering course control and position control; this could lead to loss of the global stability of the overall system, meaning the system would only be stable under certain conditions.…”

Section: Introductionmentioning

confidence: 99%

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

Dong

Wan

Liu

et al. 2016

International Journal of Advanced Robotic Systems

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Based on an integral backstepping approach, a trajectorytracking control algorithm is proposed for an underactuated unmanned marine vehicle (UMV) sailing in the presence of ocean-current disturbance. Taking into consideration the UMV model's fore/aft asymmetry, a nonlinear threedegree-of-freedom (3DOF) underactuated dynamic model is established for the horizontal plane. First, trajectorytracking differences between controllers designed based on symmetric and asymmetric models of the UMV are discussed. In order to explicitly study the effect of oceancurrent interference on the trajectory-tracking controller, the ocean current is integrated into the kinematic and dynamic models of the UMV. Detailed descriptions of distinct trajectory-tracking control performances in the presence of different ocean-current velocities and direction angles are presented. The well-known persistent exciting (PE) condition is completely released in the designed trajectory-tracking controller. A mild integral item of trajectory tracking error is merged into the control law, and global stability analysis of the UMV system is carried out using Lyapunov theory and Barbalat's Lemma. Simulation experiments in the semi-physical simulation platform are implemented to confirm the effectiveness and superiority of the excogitated control algorithm.

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