Robust Finite-Time Attitude Tracking Control of a CMG-Based AUV With Unknown Disturbances and Input Saturation

Abstract

This paper focuses on the attitude tracking control of the autonomous underwater vehicle (AUV) using control moment gyros (CMGs) with the lumped nonlinearities including model uncertainty, coupling dynamic property, external disturbance, and input saturation. To describe the attitude of the AUV without singularities, quaternions are used to describe its translational and rotational motion. A finite-time convergent extended state observer (FTCESO) in conjunction with the sliding mode control (SMC) approach is exploited to design the tracking controller for the closed-loop system with the finite-time convergence. Meanwhile, in order to release the burden of the observer, the anti-windup compensator is utilized to handle the nonlinearity of input saturation. A switch function is considered to make a switch between the robust controller and the constant-rate reaching law. Subsequently, with consideration of the inherent singularity problem of actuator dynamics, the constrained steering logic is implemented to avoid this issue without introducing other torque errors in theory. Finite-time stability of the attitude tracking system is guaranteed by the Lyapunov-based approach. Finally, the simulation results validate the attitude tracking performance of the CMG-based AUV with the proposed control strategy, when it is subject to the stated nonlinear uncertainties. INDEX TERMS Autonomous underwater vehicle, control moment gyros, attitude tracking control, extended state observer, input saturation.

Flatness-based control in successive loops for robotic manipulators and autonomous vehicles

“…Precise path following under model uncertainty and external perturbations is the main objectives of these control schemes [55][56][57][58][59]. Besides, minimization in energy consumption by the electric actuators of AUVs is another significant research target.…”

Finite-time sliding mode control of underwater vehicles in 3D space

“…So far, many research efforts have been made in the field of modeling, system identification, and control methods of UUVs to increase autonomy, maneuverability, and applicability. Furthermore, because of the environment that the UUVs perform the missions, control methods are required to have the accuracy and robustness to overcome the uncertainties, disturbances, and also attenuating noise (Teo et al, 2012; Xu et al, 2019; Yu et al, 2018). Therefore, different control methods have been suggested.…”

Steady State Analysis and Optimization for AUV Using Washout Filter Root Locus Correction Method

“…By matching the closed-loop equation and the open-loop equation, an antidisturbance stabilizing controller was presented, which required the knowledge of the uncertain damping. The paper [8] focused on the attitude tracking control of the autonomous underwater vehicle (AUV) using control moment gyros (CMGs) with the lumped nonlinearities including model uncertainty, coupling dynamic property, external disturbance, and input saturation. Pettersen considered the position and attitude stabilization control problem for AUVs with reduced actuators, and a feedback control law was proposed to realize the exponential stabilization [9].…”