Adaptive Event-Triggered Control Strategy for Ensuring Predefined Three-Dimensional Tracking Performance of Uncertain Nonlinear Underactuated Underwater Vehicles

Jin Hoe Kim,Sung Jin Yoo

doi:10.3390/math9020137

Abstract

This paper presents an adaptive event-triggered control strategy for guaranteeing predefined tracking performance of uncertain nonlinear underactuated underwater vehicles (UUVs) in the three-dimensional space. Compared with the related results in the literature, the main contribution of this paper is to develop a nonlinear error transformation approach for ensuring predefined three-dimensional tracking performance under the underactuated property of 6-DOF UUVs and limited network resources. A nonlinear tracking error function is designed using a linear velocity rotation matrix and a time-varying performance function. An adaptive event-triggered control scheme using the nonlinear tracking error function and neural networks is constructed to ensure the practical stability of the closed-loop system with predefined three-dimensional tracking performance. In the proposed control scheme, auxiliary stabilizing signals are designed to resolve the underactuated problem of UUVs. Simulation results are presented to illustrate the effectiveness of the theoretical methodology.

Highlights

Control of nonlinear underwater vehicles is attracting much research attention recently, due to its practical application in submarine survey, exploration, oceanographic mapping, and region search for deep-sea wrecks [1,2,3,4,5,6]
Three-dimensional control approaches have been studied for nonlinear underwater vehicles described by 5-degrees-of-freedom (5-DOF) or 6-DOF kinematics and dynamics
On the basis of the above discussion, the purpose of this paper is to present an adaptive event-triggered control strategy with predefined three-dimensional tracking performance for uncertain nonlinear 6-DOF underactuated underwater vehicles (UUVs)

Summary

Introduction

Control of nonlinear underwater vehicles is attracting much research attention recently, due to its practical application in submarine survey, exploration, oceanographic mapping, and region search for deep-sea wrecks [1,2,3,4,5,6]. Compared with the related results [20,21,22,23,33] in the literature, the main contribution of this study is to develop an error-transformationbased adaptive event-triggered tracking law for achieving predefined three-dimensional tracking performance while overcoming the underactuated problem of the nonlinear 6DOF dynamics. To this end, a nonlinearly transformed tracking error function using a linear velocity rotation matrix and a time-varying performance function is presented.

Problem Formulation

Adaptive Event-Triggered Control with Predefined Three-Dimensional

Simulation Examples

Findings

Conclusions