Trajectory tracking control for a CMG-based underwater vehicle with input saturation in 3D space

Xu, Ruikun; Han, Libo; Xie, De

doi:10.1016/j.oceaneng.2018.12.069

Cited by 21 publications

(9 citation statements)

References 24 publications

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“…Different from [16], [34], this paper won't take the assumption that the CMG-based vehicle has coincident centers of gravity and buoyancy to acquire the ability of zero-radius maneuver. To be more specific, the existence of metacentric restoring forces may take trouble to realize the attitude control.…”

Section: B Model Of a Cmg-based Auvmentioning

confidence: 99%

“…To be more specific, the existence of metacentric restoring forces may take trouble to realize the attitude control. Accordingly, the translational and rotational dynamic equations in [34] can be updated as follows…”

Section: B Model Of a Cmg-based Auvmentioning

confidence: 99%

“…As introduced in [34], pyramid-type CMG system is considered as the internal attitude control device to produce the control torque and its basic structure is shown in Fig. 1.…”

Section: B Model Of a Cmg-based Auvmentioning

confidence: 99%

“…Remark 4: The achievement of using constrained steering logic for the CMG system to control the AUV's attitude can be shown in [16], [34]; however, it cannot deny the fact that although this method can realize exact and real-time torque output in theory, torque errors in the transformation cannot be stabilized to zero whether in the simulation or actual situations. As a result, the designed control strategy should take this into account to address the internal disturbances.…”

Section: B Steering Law For the Cmg Systemmentioning

confidence: 99%

“…Subsequently, the authors addressed the large-angle attitude stabilization control of the CMG-actuated AUV with actuator faults [33]. Moreover, based on the backstepping design technique and anti-windup compensator, the authors addressed the problem of 3D trajectory tracking control for a CMG-based AUV with input saturation [34]. Motivated from the aforementioned literature, this paper concentrates on the interesting problem of attitude tracking control for a CMG-actuated AUV under the presence of parameter uncertainties, unknown disturbances and input saturation.…”

Section: Introductionmentioning

confidence: 99%

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

Han

Hang

et al. 2019

IEEE Access

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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.

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Section: B Model Of a Cmg-based Auvmentioning

confidence: 99%

Section: B Model Of a Cmg-based Auvmentioning

confidence: 99%

“…As introduced in [34], pyramid-type CMG system is considered as the internal attitude control device to produce the control torque and its basic structure is shown in Fig. 1.…”

Section: B Model Of a Cmg-based Auvmentioning

confidence: 99%

Section: B Steering Law For the Cmg Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

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

Han

Hang

et al. 2019

IEEE Access

Self Cite

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References

2021

Handbook of Marine Craft Hydrodynamics and Motion Control

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Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults

Zhu

Huang

et al. 2021

Intl J Robust & Nonlinear

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This article tackles the finite-time global trajectory tracking control problem of the autonomous underwater vehicle (AUV) in presence of input saturation constraints, actuator faults, unknown dynamics, and external disturbances. First, we describe the orientation of the AUV by rotation matrix instead of classical Euler angle or unit quaternion such that the AUV's dynamics could be globally formulated without singularity and unwinding phenomenon. After that, a smooth dead zone-based model is introduced here to linearize the actuator model, leaving that the adaptive laws could be suitable for the solution of input saturation and actuator faults. Considering that the difficulty of model dynamic acquirement, together with the complicity of rotation-matrix-based representation, would trouble deployment of the controller. The minimum learning parameter technology is thereby utilized to approximated the dynamic nonlinearity of the AUV. On the basis of these, a rotation-matrix-based sliding mode control scheme is technically proposed. It is proved that the tracking errors can be stabilized to a small neighborhood of origin within a settling time. Finally, several set numerical experiments are conducted to assess the effectiveness and show the advantages of the proposed control scheme.

show abstract

Trajectory tracking control for a CMG-based underwater vehicle with input saturation in 3D space

Cited by 21 publications

References 24 publications

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

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

References

Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults

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