Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Fang, Xing; Liu, Fei; Zhao, Shuai

doi:10.1002/rnc.4696

Cited by 8 publications

(6 citation statements)

References 35 publications

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“…To this end, many control schemes have been proposed such as sliding mode control, 13 adaptive control, 14‐16 and disturbance observer‐based robust control 17 . The latter is an active approach to estimating and compensating for the uncertainties and disturbances rather than a passive attenuation of the impacts of the uncertainties and disturbances compared with the former two methods, hence, it can be more effective and has been widely utilized successfully in different control fields 18,19 . The observer‐based fuzzy adaptive inverse optimal control problem was studied for a class of nonlinear systems with strict‐feedback form in Reference 20.…”

Section: Introductionmentioning

confidence: 99%

“…17 The latter is an active approach to estimating and compensating for the uncertainties and disturbances rather than a passive attenuation of the impacts of the uncertainties and disturbances compared with the former two methods, hence, it can be more effective and has been widely utilized successfully in different control fields. 18,19 The observer-based fuzzy adaptive inverse optimal control problem was studied for a class of nonlinear systems with strict-feedback form in Reference 20. An observe-based neuro-adaptive optimized control scheme was proposed for a class of strict-feedback nonlinear systems with unknown internal dynamics and immeasurable states in Reference 21.…”

Section: Introductionmentioning

confidence: 99%

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Nonsingular fixed‐time fault‐tolerant attitude control for tailless flying wing aircraft with time‐varying flight envelope constraints

Pei

et al. 2023

Intl J Robust & Nonlinear

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This article investigates the fault-tolerant attitude control problem for the tailless flying wing aircraft subject to time-varying flight envelope constraints in the presence of the matched/mismatched disturbance, uncertain parameters, and time-varying actuator failures. To handle these problems and improve the convergence rate of the attitude control system, a nonsingular fixed-time convergent robust fault-tolerant control methodology is proposed. First, the time-varying barrier Lyapunov functions is introduced to confine the flight envelope within the predefined time-varying compact set while ensuring the transient performance of the attitude tracking error. Subsequently, the fixed-time sliding mode observer is designed to compensate for the matched/mismatched disturbance, uncertainties, and time-varying actuator failures, meanwhile, by introducing an intermediate control law in the attitude controller, the singularity problem is avoided without utilizing any filters or continuous and differentiable piecewise functions. Further, it has been analytically proved that all signals of the closed-loop system are bounded and converge to the residual set around the origin in a fixed time. Finally, simulations are conducted to illustrate the superiorities of the proposed scheme.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Nonsingular fixed‐time fault‐tolerant attitude control for tailless flying wing aircraft with time‐varying flight envelope constraints

Pei

et al. 2023

Intl J Robust & Nonlinear

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“…[1][2][3] To guarantee the safety and efficiency of underwater vehicles with the human inside (human-occupied vehicle, HOV) during the exploration process, trajectory tracking control of the HOV is worthy of further studying. 4,5 Nevertheless, the actuator saturation problem should be involved in the HOV trajectory tracking. The problem is considered because of the limited underwater workspace and power supply such that infinite dynamic outputs (torque/force) cannot be provided.…”

Section: Introductionmentioning

confidence: 99%

Model predictive cascade control for resolving actuator saturation in human‐occupied vehicle trajectory tracking

Zhu,

Wang,

Zhang

et al. 2023

Intl J Robust & Nonlinear

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SummaryA model predictive cascade controller is proposed in this article to resolve the actuator saturation problem of underwater human‐occupied vehicle (HOV) trajectory tracking. For the kinematic model, a grasshopper optimization‐based model predictive control (MPC) is developed to obtain control velocities with small fluctuations in allowable regions. Based on the desired velocities obtained from the improved kinematic control, the HOV dynamic model is used to generate the corresponding torques and forces using sliding mode control. With the control velocities and forces given by the cascade control strategy, the elimination of actuator saturation during the HOV trajectory tracking can be realized. The proposed controller is verified by simulations using a numerical example based on a four degrees of freedom (4‐DOFs) HOV.

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“…Furthermore, trajectory tracking is an important task for autonomous vehicles. There are some recent research results on the trajectory tracking of unmanned surface vehicle (USV) [6], [7] and MSV [8] with disturbances and uncertainties.As we know, MPC framework calculates the control law with an on-line optimization problem, which can be used to address the tracking task of autonomous vehicles [9] and [10]. However, the on-line optimization problem in conventional MPC greatly increases the computational burden of the on-board computer, which may lead to the deterioration of real-time capability of control systems.…”

mentioning

confidence: 99%

mentioning

confidence: 99%

Robust Control of Manned Submersible Vehicle With Nonlinear MPC and Disturbance Observer

Zhong

Fang

Ding

et al. 2023

IEEE/CAA J. Autom. Sinica

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This letter focuses on the trajectory tracking of 7000 m JIAO-LONG manned submersible vehicle (MSV) with disturbances. The robust controller is realized by a composite control law, where an analytical nonlinear model predictive control (MPC) component is proposed to meet the requirements on tracking performance, and a feedforward control component is developed to reject the external disturbance and model uncertainty on the basis of a disturbance observer (DOB). Furthermore, the stability of the MSV system is analyzed, and representative simulation results are also given. The most significant feature of the designed MPC controller is that an explicit control law can be obtained for the MSV system, which alleviates the computational burden largely.Introduction: JIAOLONG is the first deep-ocean MSV independently devised and developed by China. The designed maximal depth is 7000 m, which was the deepest submersible all over the world. The MSV can serve in 99.8% of the world's ocean area, which is of great importance for the exploration of deep-ocean resources [1] and [2].The MSV system works in a complex challenging environment, where the MSV frequently receives external disturbances and parameter perturbations [3]. Owing to the complexity of deep-ocean environment, the nonlinearity of MSV, and the difficulty to acquire precise system parameters and external disturbances, the robust controller design of MSV is a quite challenging issue [4] and [5]. Furthermore, trajectory tracking is an important task for autonomous vehicles. There are some recent research results on the trajectory tracking of unmanned surface vehicle (USV) [6], [7] and MSV [8] with disturbances and uncertainties.As we know, MPC framework calculates the control law with an on-line optimization problem, which can be used to address the tracking task of autonomous vehicles [9] and [10]. However, the on-line optimization problem in conventional MPC greatly increases the computational burden of the on-board computer, which may lead to the deterioration of real-time capability of control systems. Reference [11] proposes an explicit nonlinear MPC method with analytical solution, which eliminates the calculation of on-line optimization. Hence, it is desirable to develop the controller of MSV with explicit MPC to reduce the computational burden largely.As previous mentioned, the MSV will encounter multiple disturbances in challenging underwater environments, including external disturbance, model uncertainty, etc. Reference [12] proposes a disturbance observer-based control (DOBC) method, which estimates and then compensates the lumped disturbance of nonlinear systems effec-tively. The DOBC and related methods have been intensively investigated in recent two decades [13]-[16]..

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Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Cited by 8 publications

References 35 publications

Nonsingular fixed‐time fault‐tolerant attitude control for tailless flying wing aircraft with time‐varying flight envelope constraints

Nonsingular fixed‐time fault‐tolerant attitude control for tailless flying wing aircraft with time‐varying flight envelope constraints

Model predictive cascade control for resolving actuator saturation in human‐occupied vehicle trajectory tracking

Robust Control of Manned Submersible Vehicle With Nonlinear MPC and Disturbance Observer

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