Three-Dimensional Path Following of an Underactuated AUV Based on Neuro-Adaptive Command Filtered Backstepping Control

Wang, Jinqiang; Wang, Cong; Wei, Yingjie; Zhang, Chengju

doi:10.1109/access.2018.2883081

Cited by 45 publications

(21 citation statements)

References 36 publications

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“…The control therefore cannot avoid problems, such as difficult adjustment of controller parameters, and robustness. Backstepping control [16] has been used in mobile robot tracking control and is also adapted to AUV. The idea of a backstepping algorithm is to define velocity controller that stabilizes the closed-loop system.…”

Section: Design Of Auv Motion Control Algorithmmentioning

confidence: 99%

Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles

2021

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This paper studies a novel intelligent motion control algorithm for Autonomous Underwater Vehicles (AUV) and develops a virtual reality system for a new interactive experimental platform. The paper designs a robust neuro-fuzzy controller to tackle system uncertainties and external disturbances. Fuzzy control can solve the uncertainty problem of control systems. The neural network model self-tunes the controller parameters to improve the anti-interference ability. The designed control algorithm is verified using a MATLAB implementation and a virtual reality system. The virtual reality system developed in this paper can be used to debug the control algorithm, simulate the marine environment, and establish an ocean current interference model. The paper uses the MATLAB engine to realize the data communication between the MATLAB and the AUV virtual reality system. This allows the output order of the controller in MATLAB to drive the AUV in a virtual simulation system to simulate the 3D space motion.

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Section: Design Of Auv Motion Control Algorithmmentioning

confidence: 99%

Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles

2021

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“…Theorem 1: Under the Assumption 1, the disturbance observer (9), (10) and (11) can precisely estimate the unknown external disturbance in finite time when selecting the proper parameters κ 1 and κ 2 .…”

Section: Disturbance Observer Designmentioning

confidence: 99%

Finite-Time Trajectory Tracking for Marine Vessel by Nonsingular Backstepping Controller With Unknown External Disturbance

Dai

Yang

et al. 2019

IEEE Access

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In this paper, a novel nonsingular finite-time backstepping controller is constructed for trajectory tracking of marine vessel subject to unknown external disturbances. Firstly, in the presence of disturbances, a disturbance observer (DO) is proposed to estimate and compensate the disturbances exactly in finite time. Secondly, a finite-time tracking controller is designed in the classical backstepping procedure, however, the inevitable singularity appears in calculating the derivative of virtual control. Furthermore, for overcoming this singularity, a nonsingular finite-time backstepping controller is designed by adopting a finite-time command filter to estimate the derivative, instead of calculating it directly. Theoretical analysis demonstrates the closed-loop system is finite-time stable. Finally, simulation results and comparisons illustrate the effectiveness of the proposed method. INDEX TERMS Finite-time command filter, disturbance observer (DO), nonsingular finite-time backstepping controller, marine vessel, trajectory tracking.

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“…A ocean current observer to detect an external current was designed for trajectory tracking of 5-DOF underactuated underwater vehicles (UUVs) [13]. In [14,15], fuzzy-based or neural-network control techniques were developed for uncertain 5-DOF UUVs with external disturbances. To deal with uncertain 6-DOF models with the roll motion, three-dimensional trajectory tracking control designs were developed using several control techniques such as backstepping control [16,17] and sliding mode control [18].…”

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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Three-Dimensional Path Following of an Underactuated AUV Based on Neuro-Adaptive Command Filtered Backstepping Control

Cited by 45 publications

References 36 publications

Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles

Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles

Finite-Time Trajectory Tracking for Marine Vessel by Nonsingular Backstepping Controller With Unknown External Disturbance

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

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