Robust adaptive tracking control of underactuated ODINs under stochastic sea loads

Duc, Khac

doi:10.1016/j.robot.2015.05.007

Cited by 45 publications

(22 citation statements)

References 40 publications

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“…Combining equations (20) and 21, a fuzzy system is designed between sṡ < 0 and H (t). Define the fuzzy sets as:…”

Section: B Fuzzy Rule Designmentioning

confidence: 99%

“…Combining with the one-step ahead backstepping method and Lyapunov's direct method a controller that guarantees an under-actuated omnidirectional intelligent navigator (ODIN) track the expected three-dimensional trajectory is presented in [19]. Then Do [20] designs a global trajectory-tracking controller of under-actuated ODINs in two-dimensional space, which considers the deterministic and stochastic disturbances. But the input of controller has obvious chattering throughout the simulation period, which has been improved in this paper.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2019

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Considering the actual situation of time-varying interference in the underwater environment, a trajectory tracking control method for an underactuated Unmanned Underwater Vehicle (UUV) underwater exploration based on backstepping sliding mode with fuzzy switching gain is designed in this paper. Firstly, the motion equations of UUV in diving plane are given. Secondly, the virtual control variable is designed to replace the pitch angle to avoid the singular value phenomenon. Combining with the backstepping technique, the fuzzy switching sliding mode controller is proposed. Thirdly, in order to decrease the chattering phenomenon of sliding mode control, the fuzzy rule of sliding mode gain is designed. Fourthly, based on Lyapunov theory and comparison principle, the global asymptotic stability of UUV closed-loop tracking error system is proved. Finally, the simulation results demonstrate the effectiveness and robustness of the proposed controller. INDEX TERMS Unmanned underwater vehicle (UUV), trajectory tracking control, sliding mode method, backstepping method, fuzzy switching, diving plane.

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“…Combining equations (20) and 21, a fuzzy system is designed between sṡ < 0 and H (t). Define the fuzzy sets as:…”

Section: B Fuzzy Rule Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

et al. 2019

View full text Add to dashboard Cite

show abstract

“…). This is then followed by positioning the vehicle at the neighborhood of p n through the application of the control law in (17) and (18) which was proven in theorem 1.…”

Section: Control Algorithmmentioning

confidence: 99%

“…Different nonlinear control techniques are used in these works. Some of these techniques include sliding mode control [50,12,10,11,27], higher order sliding mode [30], adaptive control [18,38,45,37,9,17,35,3], learning control [54], Neural network control [40,48,53,25], fuzzy control [31,49], Lyapanov-based techniques [34,41] and Lyapanov's direct method [29].…”

Section: Introductionmentioning

confidence: 99%

Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control

Elmokadem

Zribi

2018

J Intell Robot Syst

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Autonomous Underwater Vehicles (AUVs) are used in many applications such as the exploration of oceans, scientific and military missions, etc. Developing control schemes for AUVs is considered to be a very challenging task due to the complexity of the AUV model, the unmodeled dynamics, the uncertainties and the environmental disturbances. This paper develops a robust control scheme for the dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles. In order to insure the robustness of the proposed controllers, the sliding mode control technique is adopted in the design process. Simulation results are given to validate the proposed controllers. Moreover, studies are presented to evaluate the robustness of the developed controllers with model uncertainties and under different types of disturbances including unknown currents.

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“…The adaptive technique was also combined with Dynamic Surface Control (DSC), fuzzy and backstepping methods (Peng et al, 2013; Li et al, 2013; Lin et al, 2014). In the area of underwater vehicle tracking control, Do (2015) introduced a robust adaptive controller for an Omnidirectional Intelligent Navigator (ODIN) tracking under stochastic environmental loads and Liu et al (2016) considered an adaptive fuzzy NN controller for an Unmanned Underwater Vehicle (UUV) that was subjected to unknown disturbances and dynamic uncertainties. Another method to reject the unknown bounded disturbance is called a disturbance observer.…”

Section: Introductionmentioning

confidence: 99%

Ship Heading Control with Speed Keeping via a Nonlinear Disturbance Observer

Liu

Gao

2019

J. Navigation

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The control problem for a ship steering system with speed loss is discussed in this paper. Two methods are proposed to deal with the unknown bounded disturbance for a sliding mode controller applied to a nonlinear surface vessel heading control system. The system uncertainties caused by speed changes are taken as internal disturbances, while the wave moments are considered as external disturbances. A feedback linearization method is adopted to simplify the nonlinear system. An adaptive method and a Nonlinear Disturbance Observer (NDO) are proposed for course keeping manoeuvres and speed keeping in vessel steering and provide robust performance for time varying wave disturbance and actuator dynamics. Furthermore, the overall stability conditions of the proposed controllers are analysed by Lyapunov's direct method. Finally, simulation results using the characteristics of a naval vessel illustrate the effectiveness of the presented control algorithms.

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Robust adaptive tracking control of underactuated ODINs under stochastic sea loads

Cited by 45 publications

References 40 publications

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

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

Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control

Ship Heading Control with Speed Keeping via a Nonlinear Disturbance Observer

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