Nonlinear RISE-Based Control of an Autonomous Underwater Vehicle

Fischer, N.; Hughes, Devin; Walters, Patrick; Schwartz, Eric M.; Dixon, Warren E.

doi:10.1109/tro.2014.2305791

Cited by 191 publications

(81 citation statements)

References 38 publications

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“…Tracking strategies related to underwater vehicles are presented, e.g., in [1][2][3][4]. Some control strategies for surface vessel including ships and hovercrafts can be found in [5][6][7][8][9][10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Non-adaptive velocity tracking controller for a class of vehicles

Herman

Adamski

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract.A non-adaptive controller for a class of vehicles is proposed in this paper. The velocity tracking controller is expressed in terms of the transformed equations of motion in which the obtained inertia matrix is diagonal. The control algorithm takes into account the dynamics of the system, which is included into the velocity gain matrix, and it can be applied for fully actuated vehicles. The considered class of systems includes underwater vehicles, fully actuated hovercrafts, and indoor airship moving with low velocity (below 3 m/s) and under assumption that the external disturbances are weak. The stability of the system under the designed controller is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller as well as the robustness to parameters uncertainty are also considered. The performance of the proposed controller is validated via simulation on a 6 DOF robotic indoor airship as well as for underwater vehicle model.

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Section: Introductionmentioning

confidence: 99%

Non-adaptive velocity tracking controller for a class of vehicles

Herman

Adamski

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

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“…Fully actuated vehicles are often considered in the literature, e.g. in for underwater vehicle [9,12], surface vehicles [26,28], hovercrafts [13,25] or airships [20,29]. The main difference between our velocity tracking controller and the aforementioned approaches relies on that we include the vehicle dynamics directly into the velocity control gain matrix.…”

Section: Introductionmentioning

confidence: 99%

Velocity Controller for a Class of Vehicles

Herman

Adamski

2017

Foundations of Computing and Decision Sciences

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Abstract. This paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on transformation of equations of motion allows one to use, in the control gain matrix, the dynamical couplings existing in the system. Consequently, the dynamics of the vehicle is incorporated into the control process what leads to fast velocity error convergence. The stability of the system under the controller is derived based on Lyapunov argument. Moreover, the robustness of the proposed controller is shown too. The general approach is valid for 6 DOF models as well as other reduced models of vehicles. Simulation results on a 6 DOF indoor airship validate the described velocity tracking methodology.

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“…An adaptive supervisory control algorithm that combines a switching method with an iterative Lyapunov technique is proposed in [24]; a stable adaptive neural network controller combined with a backstepping technique and Lyapunov theory is designed in [25]; a state feedback adaptive backstepping fuzzy logic controller is addressed in [27]; a hybrid sliding-mode control strategy based on a bioinspired model is developed in [24]; a suboptimal robust control methodology is presented in [30]; and a hybrid control algorithm based on neural network and dynamic surface control is presented in both [28] and [33]. Moreover, some linear algebra and other methodologies are formulated in [34][35][36][37][38][39][40][41][42]. Based on searching for conditions under which a system of linear equations has an exact solution, linear algebra methodologies are proposed in both [34] and [35].…”

Section: Introductionmentioning

confidence: 99%

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

Dong

Wan

Liu

et al. 2016

International Journal of Advanced Robotic Systems

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Based on an integral backstepping approach, a trajectorytracking control algorithm is proposed for an underactuated unmanned marine vehicle (UMV) sailing in the presence of ocean-current disturbance. Taking into consideration the UMV model's fore/aft asymmetry, a nonlinear threedegree-of-freedom (3DOF) underactuated dynamic model is established for the horizontal plane. First, trajectorytracking differences between controllers designed based on symmetric and asymmetric models of the UMV are discussed. In order to explicitly study the effect of oceancurrent interference on the trajectory-tracking controller, the ocean current is integrated into the kinematic and dynamic models of the UMV. Detailed descriptions of distinct trajectory-tracking control performances in the presence of different ocean-current velocities and direction angles are presented. The well-known persistent exciting (PE) condition is completely released in the designed trajectory-tracking controller. A mild integral item of trajectory tracking error is merged into the control law, and global stability analysis of the UMV system is carried out using Lyapunov theory and Barbalat's Lemma. Simulation experiments in the semi-physical simulation platform are implemented to confirm the effectiveness and superiority of the excogitated control algorithm.

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Nonlinear RISE-Based Control of an Autonomous Underwater Vehicle

Cited by 191 publications

References 38 publications

Non-adaptive velocity tracking controller for a class of vehicles

Non-adaptive velocity tracking controller for a class of vehicles

Velocity Controller for a Class of Vehicles

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

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