Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV

Lin-Lin Wang,Li-Xin Pan

doi:10.1109/access.2020.2979773

Abstract

In order to improve path tracking performance of Beaver AUV, a new method for path tracking controller design is proposed basing on variable structure control theory and nonlinear dynamics model of Beaver. Switching surface of variable structure controllers is founded with corresponding error and error derivative of surge displacement and yaw angle. Exponential approach law is adopted to derive control algorithm for surge and yaw in the process of path tracking. Chattering phenomenon is restrained due to adaptive neurons which are used for approaching speed adjusting online. Simulation results of sinusoidal path tracking, circular path tracking and planning path tracking show that tracking precision of Beaver AUV is improved more evidently through variable structure control with adaptive approaching speed compared with variable structure control using fixed approaching speed. The method proposed in this article is effective and feasible.

Highlights

In recent ten years, the research on autonomous underwater vehicle (AUV) control attracts wide attention from experts and scholars of countries around the world
Definition of hand position point is introduced to the control strategy by Paliotta in order to realize trajectory tracking and path following of generic paths for underactuated marine vehicles [3]
The control performance of REMUS AUV, using this control scheme, is evaluated through computer simulations, and the results show that this control scheme works well.A surge-heading guidance-based finite-time pathfollowing control (SHG-FPC) scheme is created by Wang for an underactuated marine vehicle with complex unknowns [5]

Summary

INTRODUCTION

The research on autonomous underwater vehicle (AUV) control attracts wide attention from experts and scholars of countries around the world. Pan: Adaptive Variable Structure Control With Neuron for Path Tracking of Beaver AUV. PATH TRACKING CONTROLLER DESIGN The kinematics equations of Beaver AUV in surge and yaw direction are expressed as. The tracking control law for surge motion is obtained from Eq(11) and Eq(12) and expressed as u1 = 236.41Dsd + 22.2Ds + 236.41Csurge Dsd − Ds. Here, smooth function method is used to further reducing the chattering of variable structure control. Eq(14) and Eq(22) show the control law for surge and yaw respectively when variable structure control strategy is applied to AUV path tracking

MODIFICATION OF VARIABLE STRUCTURE CONTROL

CONCLUSION