Trajectory Tracking With Prescribed Performance for Underactuated Underwater Vehicles Under Model Uncertainties and External Disturbances

Bechlioulis, Charalampos P.; Karras, George C.; Heshmati-alamdari, Shahab; Kyriakopoulos, Kostas J.

doi:10.1109/tcst.2016.2555247

Cited by 189 publications

(91 citation statements)

References 26 publications

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“…Choose the following performance function:

k_{i} = false(k_{i 0} - k_{i \infty} false) \exp false(- μ_{i} t false) + k_{i \infty}, i = x, y, ψ, u, v, r,

where k i 0 , k i ∞ , and μ i are positive design parameters with k i 0 > k i ∞ ; k i ∞ represents the maximum admissible size of the error e i at the steady state; and μ i denotes the minimum allowable convergence rate. The maximum overshoot of e i is predetermined less than c i k i 0 , i = x , y , ψ .…”

Section: Formation Control Designmentioning

confidence: 99%

“…Select proper parameters c i and k i 0 such that

- {\underline{k}}_{i} false(0 false) < e_{i} false(0 false) < {\overset{k}{true}}_{i} false(0 false), i = x, y, ψ, (||, e_{j} false(0 false)) < k_{j} false(0 false), j = u, v, r .

…”

Section: Formation Control Designmentioning

confidence: 99%

“…In addition, owing to the existence of approximation errors, only uniform ultimate boundedness stability was guaranteed, and the tracking accuracy was not prior known. Recently, a series of elegant control algorithms were derived by other works, which can achieve predefined transient and steady‐state tracking performance. Unfortunately, the parameter selection of controllers relies on the initial condition of closed‐loop systems, ie, the control design is online.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Zhang

Yang

2018

Intl J Robust & Nonlinear

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Summary This paper concentrates on the leader‐follower formation control problem for marine surface vessels with unknown nonlinear dynamics and actuator faults. The unknown inertia matrix and multiplicative fault render the existing methods infeasible. To solve this problem, a low‐complexity prescribed performance controller is first proposed without the help of auxiliary neural/fuzzy systems or adaptive mechanisms. A modification technique is further adopted to relax the initial condition, such that global closed‐loop stability is guaranteed. Finally, simulation results illustrate the above theoretical results.

show abstract

“…Choose the following performance function:

k_{i} = false(k_{i 0} - k_{i \infty} false) \exp false(- μ_{i} t false) + k_{i \infty}, i = x, y, ψ, u, v, r,

Section: Formation Control Designmentioning

confidence: 99%

“…Select proper parameters c i and k i 0 such that

- {\underline{k}}_{i} false(0 false) < e_{i} false(0 false) < {\overset{k}{true}}_{i} false(0 false), i = x, y, ψ, (||, e_{j} false(0 false)) < k_{j} false(0 false), j = u, v, r .

…”

Section: Formation Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Zhang

Yang

2018

Intl J Robust & Nonlinear

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show abstract

“…In most of these cases, the vehicles operate under the influence of strong external disturbances caused from ocean currents and waves. The motion control problem for autonomous underwater vehicles has been an active research field for the past two decades and continues to pose considerable challenges to control designers especially when the vehicles exhibit model uncertainty and are affected by environmental disturbances [8]. A typical motion control problem is way-point tracking which is concerned with the design of control laws that force a vehicle to reach and follow a reference point.…”

Section: Vehicle Controlmentioning

confidence: 99%

The PANDORA project: A success story in AUV autonomy

Maurelli

Carreras

Salví

et al. 2016

OCEANS 2016 - Shanghai

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This paper presents some of the results of the EU-funded project PANDORA -Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted the Industrial Advisory Board. Field trials were performed at The Underwater Centre, in Loch Linnhe, Scotland, and in harbour conditions close to Girona, Spain.

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“…The past decades have witnessed a great amount of studies on control for nonaffine systems where the control inputs take their actions through a nonlinear and implicit way . There are many systems falling into this category featured with nonaffine structure, such as mechanical systems, biochemical process, and aircraft flight control system .…”

Section: Introductionmentioning

confidence: 99%

Improved prescribed performance control for nonaffine pure‐feedback systems with input saturation

Wang

et al. 2019

Intl J Robust & Nonlinear

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Summary This work considers an input and output constraint control problem for pure‐feedback systems with nonaffine functions possibly being in‐differentiable. A locally semibounded and continuous condition for nonaffine functions is presented to guarantee the controllability, and the nonaffine system is transformed to an equivalent pseudoaffine one based on the mild condition. Combined with backstepping technique, a novel prescribed performance controller with new performance functions is constructed to circumvent high frequency chattering in control input. An auxiliary system with bounded compensation term is utilized in this paper, successfully avoiding the overrun of control input. The methodology achieves the desired transient and steady‐state performance and presents excellent robustness against the system uncertainty. Finally, two numerical simulations are performed to demonstrate the effectiveness of the proposed approach.

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Trajectory Tracking With Prescribed Performance for Underactuated Underwater Vehicles Under Model Uncertainties and External Disturbances

Cited by 189 publications

References 26 publications

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

The PANDORA project: A success story in AUV autonomy

Improved prescribed performance control for nonaffine pure‐feedback systems with input saturation

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