Command-Filter-Based Region-Tracking Control for Autonomous Underwater Vehicles with Measurement Noise

Abstract

This paper investigates the AUV region-tracking control problem with measurement noise and transient and steady-state constraints. To achieve the fluctuation of AUV tracking error within an expected region while satisfying the transient and steady-state performance constraints, this paper proposes an improved nonlinear tracking error transformation method. This method converts the tracking error into a new virtual error variable through nonlinear conversion, thus transforming the above performance requirements for the tracking error into boundedness requirements for the new virtual error variable. In addition, aiming at the problem of measurement noise causing strong fluctuation of the control signal, this paper proposes a finite-time AUV control method based on a two-stage command filter. This method utilizes a finite-time sliding mode differentiator to filter the virtual control signal during the derivation of the control law using the backstepping technique. In light of the signal loss incurred by two-stage filtering and its potential impact on system stability, a finite-time compensator is designed to compensate the signal loss and achieve finite-time stability of the closed-loop system. Finally, simulations conducted using ODIN AUV demonstrate that the proposed method exhibits smooth control signal and low energy consumption characteristics. Furthermore, the tracking error meets the requirements for both transient and steady-state performance, as well as regional tracking.

Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders

“…With the advancement of oceanography research and marine resource exploration, underwater mobile platforms have gained prominence, assuming a pivotal role in various underwater missions including resource exploration, ocean observation, environmental monitoring, and sea area investigations [1][2][3]. These platforms come in various types, such as remotely operated vehicles (ROVs) [4][5][6], autonomous underwater vehicles (AUVs) [7][8][9], and underwater gliders (UGs) [10][11][12]. Among these, the underwater glider (UG) stands out as a buoyancy-driven autonomous robot capable of converting vertical motion into horizontal movement using airfoil technology, allowing it to move forward with minimal power consumption over extended periods [13].…”