Adaptive nonlinear control of an autonomous underwater vehicle

Abstract

Autonomous underwater vehicles (AUVs) are highly nonlinear underactuated systems with uncertain dynamics and a challenging control problem. The main focus of this paper is to present a control law that shows desirable performance in the presence of modeling uncertainties. In this study, uncertainties are considered to be bounded and the AUV mathematical model is obtained in the presence of such uncertainties. Forces and torques applied to the AUV are also designed using a nonlinear dynamic controller. Appropriate adaptive rules are also presented to overcome system uncertainties and external disturbances. The adaptive nonlinear dynamic controller is designed based on upper bounds of system uncertainties and its stability is proven using the Lyapunov theory. In this article, the performance of the proposed control algorithm for tracking reference trajectories in an obstacle-rich environment is investigated. Therefore, the control algorithm is combined with potential fields for obstacle avoidance. Obtained results show the efficiency of the proposed controller.

Observer‐based controller design for uncertain disturbed Takagi‐Sugeno fuzzy systems: A fuzzy wavelet neural network approach

“…That is why, the control of nonlinear systems with uncertain and unknown parameters become a significant and demanding issue in the literature. Adaptive nonlinear concepts have been developed for the matter of stabilizing and tracking of nonlinear systems, for example, in Reference 44, where an adaptive nonlinear control is proposed due to the upper bounds of uncertainties in autonomous underwater vehicle. In these works, numerous estimators including NNs, wavelet functions, and fuzzy systems are implemented to estimate unknown nonlinearities.…”

Output Feedback Spatial Trajectory Tracking Control of Underactuated Unmanned Undersea Vehicles

“…Generally speaking, the traditional trajectory tracking control algorithms of marine vehicles (including ship, submarine, USV, UUV, ROV and so on) are developed under the condition that all the motion states are measurable. These full state feedback tracking controllers are proposed based on numerous nonlinear control methods, such as backstepping technique [3], [8], [17], [18], [24], [25], [29], Lyapunov's direct method [3], [17], [18], sliding mode control (SMC) [4], [10], [20], [23]- [26], [31], [32], adaptive control [17]- [19], [26], [27], etc. All the aforementioned control schemes require that all states of marine vehicles are measurable, including the linear and angular velocities in the body-fixed reference frame and the position and attitude in the inertial reference frame.…”

Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs

“…Underactuated systems have less available control inputs than degrees of freedom and this characteristic brings a great challenge for the controller development and stability analysis. Therefore, the control issues of different kinds of underactuated systems have attracted much attention in academia and many meaningful results have been reported in the literature (Dehghani and Abedi, 2018; Huang et al, 2015; Jabbar et al, 2017; Li and Huang, 2020; Li et al, 2017; Liang et al, 2019a, b; Liu, 2018; Sun et al, 2017, 2018; Tabataba’i-Nasab et al, 2019; Wu and He, 2017; Wu et al, 2020; Xu et al, 2014; Zhang et al, 2018). The translational oscillation with a rotational actuator (TORA) is a kind of underactuated systems.…”