Robust trajectory tracking of autonomous underwater vehicles using back-stepping control and time delay estimation

Cho, Gun Rae; Li, Jihong; Park, Daegil; Jung, Je Hyung

doi:10.1016/j.oceaneng.2020.107131

Cited by 65 publications

(43 citation statements)

References 33 publications

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“…Since s i andM ii are interrelated, we defined the above two assumptions. When s i ≈ 0 at t = 0,M ii is rapidly approaching |s i | δ i by γ ii of the gain dynamics (15) and s i is governed by the closed-loop error dynamics (19). Theorem 1: The closed-loop system is uniformly ultimately bounded if the following condition is satisfied such that…”

Section: Stability Analysismentioning

confidence: 99%

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An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators

Lee

Chang

et al. 2020

IEEE Access

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The time-delay control (TDC) has recently been spotlighted as an effective solution owing to model-free, efficient, and robust properties thanks to a time-delay estimation (TDE) technique. The gain of TDC usually denoted byM is crucial for its stability and performance, and it is reported that the constant gain of TDC does not always guarantee the best performance. To cope with this problem, this paper proposes an effective gain adaptation together with a nonlinear desired error dynamics and a new sliding variable. The resulting adaptive gain dynamics is combined with the TDC to form the proposed control, whose closed-loop stability is proved. Through simulation and experiment, we have shown that the proposed control enables to transferM from an unstable initial value to a stable one, better than a best-tuned gain by trial and error. As a result, the proposed control is model-free, able to achieve time responses as fast as the inclusive enhanced TDC (IETDC)-arguably the fastest TDC-and tracking accuracy better than the IETDC. The proposed method has shown a strong potential to significantly relieve the burden of gain selection. INDEX TERMS Adaptive control, robot manipulator, sliding mode control, time-delay estimation.

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Section: Stability Analysismentioning

confidence: 99%

“…To estimate robot dynamics, the TDC adopts a time-delay estimation (TDE) technique which intentionally employs time-delayed states at the previous sampling instant [10]- [12]. Thanks to the TDE technique, TDC becomes simple, efficient, and robust [10]- [12] and is widely applied to the various fields [13]- [19].…”

Section: Introductionmentioning

confidence: 99%

An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators

Lee

Chang

et al. 2020

IEEE Access

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“…Control of nonlinear underwater vehicles is attracting much research attention recently, due to its practical application in submarine survey, exploration, oceanographic mapping, and region search for deep-sea wrecks [1][2][3][4][5][6]. The initial studies have focused on the planar or depth control design of underwater vehicles in the two-dimensional space [7][8][9][10][11]. However, these studies in the two-dimensional space provide limited solutions to various tracking problems in the practical three-dimensional underwater environment.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Event-Triggered Control Strategy for Ensuring Predefined Three-Dimensional Tracking Performance of Uncertain Nonlinear Underactuated Underwater Vehicles

Kim

Yoo

2021

Mathematics

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This paper presents an adaptive event-triggered control strategy for guaranteeing predefined tracking performance of uncertain nonlinear underactuated underwater vehicles (UUVs) in the three-dimensional space. Compared with the related results in the literature, the main contribution of this paper is to develop a nonlinear error transformation approach for ensuring predefined three-dimensional tracking performance under the underactuated property of 6-DOF UUVs and limited network resources. A nonlinear tracking error function is designed using a linear velocity rotation matrix and a time-varying performance function. An adaptive event-triggered control scheme using the nonlinear tracking error function and neural networks is constructed to ensure the practical stability of the closed-loop system with predefined three-dimensional tracking performance. In the proposed control scheme, auxiliary stabilizing signals are designed to resolve the underactuated problem of UUVs. Simulation results are presented to illustrate the effectiveness of the theoretical methodology.

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“…In [11], a Lyapunov-based model predictive control design was developed for fully-actuated underwater vehicles on the horizontal plane. A robust backstepping controller using the time delay estimation was proposed for fully-actuated underwater vehicles [12]. These results [8][9][10][11][12] are only available for the two-dimensional tracking control of autonomous underwater vehicles.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles

Kim¹,

Yoo²

2021

Mathematics

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A nonlinear-observer-based design methodology is proposed for an adaptive event-driven output-feedback tracking problem with guaranteed performance of uncertain underactuated underwater vehicles (UUVs) in six-degrees-of-freedom (6-DOF). A nonlinear observer using adaptive neural networks is presented to estimate the velocity information in the presence of unknown nonlinearities in the dynamics of 6-DOF UUVs where a state transformation approach using a time-varying scaling factor is introduced. Then, an output-feedback tracker using a nonlinear error function and estimated states is recursively designed to overcome the underactuated problem of the system dynamics and to guarantee preselected control performance in three-dimensional space. It is shown that the tracking error of the nonlinear-observer-based output-feedback control system exponentially converges a small neighbourhood around the zero. Efficiency of the resulting output-feedback strategy is verified through a simulation.

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Robust trajectory tracking of autonomous underwater vehicles using back-stepping control and time delay estimation

Cited by 65 publications

References 33 publications

An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators

An Effective Adaptive Gain Dynamics for Time-Delay Control of Robot Manipulators

Adaptive Event-Triggered Control Strategy for Ensuring Predefined Three-Dimensional Tracking Performance of Uncertain Nonlinear Underactuated Underwater Vehicles

Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles

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