Trajectory Tracking Control of UUV Based on Backstepping Sliding Mode With Fuzzy Switching Gain in Diving Plane

Yan, Zheping; Yang, Zewen; Zhang, Jinzhong; Jiang, Anzuo; Du, Xue

doi:10.1109/access.2019.2953530

Cited by 23 publications

(7 citation statements)

References 44 publications

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“…(3) Dynamic surface control is used to solve the problem of dimensional explosion in the backstepping method. Different from previous works [26,27], the closed-loop system is finite-time stable and not asymptotically stable. Finite time control can achieve better steady and transient performance and stronger robustness.…”

Section: Introductionmentioning

confidence: 59%

Finite-Time Prescribed Performance Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on a Tan-Type Barrier Lyapunov Function

2022

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This paper proposed a finite-time prescribed performance control scheme for underactuated autonomous underwater vehicles (AUVs) based on adaptive neural networks and a tan-type barrier Lyapunov function. Even in the presence of output constraints and environmental disturbances, the AUV can also precisely track the desired trajectory in a finite time. By introducing a tan-type barrier Lyapunov Function (TBLF), the singularity problem in process design is solved and all output errors are guaranteed to satisfy the prescribed performance specifications. Dynamic surface control (DSC) and the minimal learning parameter (MLP) are employed to greatly simplify the complexity of the algorithm and enhance the robustness of the control system, respectively. Lyapunov stability analysis proves that the proposed controller guarantees all signals in the closed-loop system to be uniformly ultimately bounded (UUB), and that the tracking errors converge to a small neighborhood near the origin in a finite time. Finally, the simulation results demonstrate the effectiveness and feasibility of the proposed controller.

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Section: Introductionmentioning

confidence: 59%

Finite-Time Prescribed Performance Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on a Tan-Type Barrier Lyapunov Function

2022

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“…This model was first used in real-time path planning for robots by Yang and Meng [26]. The conventional backstepping control has speed jump and overshoot issues, some recent research used backstepping technique with the combination of sliding mode control, however, the overshoot and jump issue can still be observed [27]- [29], and the speed jump issue has not been practically solved. The proposed tracking control strategy is able to eliminate the velocity jump and overshoot that occur in conventional backstepping control and provide smooth velocity commands.…”

Section: Design Of Controllersmentioning

confidence: 99%

Enhanced Bioinspired Backstepping Control for a Mobile Robot With Unscented Kalman Filter

Yang

Gadsden

2020

IEEE Access

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Tracking control has been an important research topic in robotics. It is critical to design controllers that make robotic systems with smooth velocity commands. In addition, the robustness of the robotic system in the presence of system and measurement noises is an important consideration as well. This paper presents a novel tracking control strategy that integrates a biologically inspired backstepping controller and a torque controller with unscented Kalman filter (UKF) and Kalman filter (KF). The bioinspired backstepping controller and torque controller are capable of avoiding and reducing the velocity jumps and overshoots that occur in conventional backstepping control and provide smooth velocity commands. The integration of KF and UKF enables the proposed control strategy capable of providing accurate state estimates. The stability and convergence of tracking errors are guaranteed by Lyapunov stability analysis. The novelty of the proposed bioinspired tracking control strategy is to take the system and measurement noises and robot dynamic constraints into the consideration. The results show that the proposed control strategy provides accurate state estimates and avoids large velocity jumps and overshoot that occurs in conventional backstepping control. This tracking control strategy is suitable for autonomous mobile robots under hard conditions with system and measurement noises.

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“…PID regulators were also used for the functional block of motor control. This study did not focus on the decomposition of these control techniques for an AUV because they were developed in many AUV applications [23][24][25][26]34,35,[88][89][90].…”

Section: Cim For An Auv Controllermentioning

confidence: 99%

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

Hien

Truong

et al. 2020

Applied Sciences

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In this paper, a hybrid realization model is proposed for the controllers of autonomous underwater vehicles (AUVs). This model is based on the model-based systems engineering (MBSE) methodology, in combination with the model-driven architecture (MDA), the real-time unified modeling language (UML)/systems modeling language (SysML), the extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, and it can be reused for designing controllers of various AUV types. The dynamic model and control structure of AUVs were combined with the specialization of MDA concepts as follows. The computation-independent model (CIM) was specified by the use-case model combined with the EKF/UKF algorithms and hybrid automata to intensively gather the control requirements. Then, the platform-independent model (PIM) was specialized using the real-time UML/SysML to design the capsule collaboration of control and its connections. The detailed PIM was subsequently converted into the platform-specific model (PSM) using open-source platforms to promptly realize the AUV controller. On the basis of the proposed hybrid model, a planar trajectory-tracking controller, which allows a miniature torpedo-shaped AUV to autonomously track the desired planar trajectory, was implemented and evaluated, and shown to have good feasibility.

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Trajectory Tracking Control of UUV Based on Backstepping Sliding Mode With Fuzzy Switching Gain in Diving Plane

Cited by 23 publications

References 44 publications

Finite-Time Prescribed Performance Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on a Tan-Type Barrier Lyapunov Function

Finite-Time Prescribed Performance Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on a Tan-Type Barrier Lyapunov Function

Enhanced Bioinspired Backstepping Control for a Mobile Robot With Unscented Kalman Filter

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

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