Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle

Li, Ye; Wang, Cong; Wu, Qi; Chen, Pengyun; Jiang, Yanqing; Li, Yiming

doi:10.1016/j.oceaneng.2015.06.034

Cited by 76 publications

(26 citation statements)

References 12 publications

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“…Output feedback linearization [5] is an alternative approach which however is not always possible. Moreover, based on a combined approach involving Lyapunov theory and backstepping, various model-based non-linear controllers have been proposed in the literature requiring a very accurate knowledge of the vehicle dynamic parameters, which in most cases is quite difficult to obtain [6]. Moreover, the effect of ocean currents either is assumed to be known or an exponential observer is adopted for its estimation, thus increasing the design complexity [7].…”

Section: Introductionmentioning

confidence: 99%

Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

Heshmati-alamdari

Νίκου

Dimarogonas

2021

IEEE Trans. Automat. Sci. Eng.

113

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This paper addresses the tracking control problem of 3D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. More specifically, a robust Nonlinear Model Predictive Control (NMPC) scheme is presented for the case of underactuated Autonomous Underwater Vehicles (AUVs) (i.e., unicycle-like vehicles actuated only in surge, heave and yaw). The purpose of the controller is to steer the unicycle-like AUV to a desired trajectory with guaranteed input and state constraints (e.g., obstacles, predefined vehicle velocity bounds, thruster saturations) inside a partially known and dynamic environment where the knowledge of the operating workspace is constantly updated via the vehicle's on-board sensors. In particular, considering the sensing range of the vehicle, obstacle avoidance with any of the detected obstacles is guaranteed, by on-line generation of a collision-free trajectory tracking path, despite the model dynamic uncertainties and the presence of external disturbances representing ocean currents and waves. Finally, realistic simulation studies verify the performance and efficiency of the proposed framework.

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Section: Introductionmentioning

confidence: 99%

Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

Heshmati-alamdari

Νίκου

Dimarogonas

2021

IEEE Trans. Automat. Sci. Eng.

113

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“…The non-linear Lyapunov-based control is one of the mainstream approaches. Examples have been reported in the literature [15,16]. An AUV that is subject to gravity, buoyancy and fluid dynamic forces and moments was considered in [15], where almost global stability was achieved.…”

Section: Introductionmentioning

confidence: 99%

“…An AUV that is subject to gravity, buoyancy and fluid dynamic forces and moments was considered in [15], where almost global stability was achieved. The cascaded system and backstepping method were used in [16] to design a controller for under-actuated AUVs. Nonetheless, neither [15] nor [16] considers unmodelled dynamic terms, and unknown disturbances etc.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy observer‐based tracking control of an underactuated underwater vehicle with linear velocity estimation

Duan

Fong

Chen

2020

IET Control Theory & Applications

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“…Improved line-of-sight (LOS) and fuzzy controller were designed in [15]. A 3D trajectory tracking controller for underactuated AUV was designed by linear stability theory and backstepping method [16]. However, the impacts of ocean currents were not considered in the above literatures.…”

Section: Introductionmentioning

confidence: 99%

Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

Zhang

Jian

et al. 2019

Sensors

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The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed based on virtual guidance method. Then, a finite-time control scheme based on super-twisting observer and command filtered backstepping technology is proposed. We adopt super-twisting observer based on finite-time theory to observe the ocean currents disturbances for improving the system robust. A command filtered backstepping is proposed to replace the differential process in the conventional backstepping method for avoiding the differential expansion problem. The filter compensation loop is designed to ensure the accuracy of the filtered signal, and the anti-integration saturation link is designed considering the influence of integral saturation. Lyapunov stability theory is used to prove the stability of the underactuated AUV. Simulation studies are conducted to show the effectiveness and robustness of the controller.

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Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle

Cited by 76 publications

References 12 publications

Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

Fuzzy observer‐based tracking control of an underactuated underwater vehicle with linear velocity estimation

Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

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