Straight line path following for formations of underactuated underwater vehicles

Børhaug, E.; Павлов, А. В.; Pettersen, Kristin Y.

doi:10.1109/cdc.2007.4434733

Cited by 41 publications

(41 citation statements)

References 13 publications

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“…In this paper, the coordinate transformation that need to be carried out in order to facilitate the controller design consists of two steps; the first step is derived from [16][17][18][34][35][36], while the second step is different, as is shown below:…”

Section: Coordinate Transformationmentioning

confidence: 99%

“…An AUV is usually underactuated as the number of control inputs is less than degrees of freedom to be controlled; thus, classic control technique designs for fully actuated systems are not reliable for use in these systems [16][17][18]. It has been proven that the underactuated AUV system does not satisfy the necessary conditions of Brockett and therefore cannot be stabilized by any time-invariant continuous state feedback controller [19].…”

Section: Introductionmentioning

confidence: 99%

“…Control design in the general case where nondiagonal matrix elements are also taken into account is not as difficult in a fully actuated case, but is nonetheless an active and difficult topic of research in the underactuated case [19,34]. Though many motion control algorithms have been developed for dealing with underactuated systems of the AUV and other marine vehicles in [13,14,[16][17][18][19][20]29,30,[34][35][36], little research has considered fore/aft asymmetry of the AUV model, the exceptions being [17][18][19][34][35][36]. In [17][18][19][34][35][36], details concerning the control performance differences of AUVs when comparing the nonlinear control method based on the symmetric model and that based on the non-symmetric model are not presented.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents

Dong

Wan

et al. 2015

International Journal of Advanced Robotic Systems

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This paper presents a state-feedback-based backstepping control algorithm to address the point stabilization (or setpoint regulation) control problem for an underactuated autonomous underwater vehicle (AUV) in the presence of constant and irrotational ocean current disturbance. A nonlinear three degree of freedom dynamic model in the horizontal plane for an AUV without symmetry fore/aft is considered. The expression of the relationship between the desired heading angle of the AUV and direction angle of the ocean current, which is a necessary condition for precise point stabilization control of an underactuated AUV in the presence of ocean current disturbance is firstly discussed in this paper. The proposed backstepping control law for point stabilization has further been enriched by incorporating an additional integral action for enhancing the steady state performance of the AUV control system, while practical asymptotic stability analysis of the system is carried out using Lyapunov theory and Barbalat's Lemma. Simulation experiments of an underactuated AUV verify the theorem proposed and demonstrate the effectiveness of the controller.

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Section: Coordinate Transformationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents

Dong

Wan

et al. 2015

International Journal of Advanced Robotic Systems

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“…The sideslip is calculated based on velocity measurements. A similar approach is used in [15], where path following of general paths for both surface and underwater vehicles is achieved by analyzing Serret-Frenet equations.…”

Section: Introductionmentioning

confidence: 99%

“…In [16], a LOS path following approach is used with current estimation techniques and measurements of relative velocities, allowing the USV to follow curved paths while compensating for the influence of ocean currents. The Serret-Frenet based method in [15] is extended to account for the effects of ocean current for surface and underwater vehicles in [17] and [18], respectively. Similar to [16], this method requires estimation of the ocean current, measurements of relative velocities and a parametrization of the path as a function of arc length, which can make it challenging to find a parametrization of the desired path.…”

Section: Introductionmentioning

confidence: 99%

Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents

Moe

Pettersen

Fossen

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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Abstract-An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general twodimensional path in the presence of unknown ocean currents. This paper presents a method to achieve this. The proposed guidance and control system only requires absolute velocity measurements for feedback, thereby foregoing the need for expensive sensors to measure relative velocities. The closed-loop system consists of a guidance law and an adaptive feedback linearizing controller combined with sliding mode, and is shown to render the path cross-track error dynamics UGAS and USGES. Simulation results are presented to verify the theoretical results.

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Cooperative control of multiple surface vessels in the presence of ocean currents and parametric model uncertainty

Almeida

Silvestre

Pascoal

2010

Intl J Robust & Nonlinear

115

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SUMMARYThis paper addresses the problem of cooperative path-following of multiple autonomous vehicles. Stated briefly, the problem consists of steering a group of vehicles along specified paths while keeping a desired spatial formation. For a given class of autonomous surface vessels, it is shown how Lyapunov-based techniques and graph theory can be brought together to design a decentralized control structure, where the vehicle dynamics and the constraints imposed by the topology of the inter-vehicle communication network are explicitly taken into account. To achieve path-following for each vehicle, a nonlinear adaptive controller is designed that yields convergence of the trajectories of the closed-loop system to the path in the presence of constant unknown ocean currents and parametric model uncertainty. The controller derived implicitly compensates for the effect of the ocean current without the need for direct measurements of its velocity. Vehicle cooperation is achieved by adjusting the speed of each vehicle along its path according to information exchanged on the positions of a subset of the other vehicles, as determined by the communication topology adopted. Global stability and convergence of the closed-loop system are guaranteed. Illustrative examples are presented and discussed.

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Straight line path following for formations of underactuated underwater vehicles

Cited by 41 publications

References 13 publications

Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents

Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents

Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents

Cooperative control of multiple surface vessels in the presence of ocean currents and parametric model uncertainty

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