Abstract
This paper presents a novel attitude control design, which combines adaptive control and backstepping control together, for Autonomous Underwater Vehicles (AUVs) in a highly dynamic and uncertain environment. The Euler angle representation is adopted in this paper to represent the attitude propagation. Kinematics and dynamics of the attitude are in the strict feedback form, which leads the backstepping control strategy serving as the baseline controller. Moreover, by bringing fast and robust adaptation into the backstepping control architecture, our controller is capable of dealing with time-varying uncertainties from modeling and external disturbances in dynamics. This attitude controller is proposed for coupled pitch-yaw channels. For inevitable roll excursions, a Lyapunov function-based optimum linearization method is presented to analyze the stability of the roll angle in the operation region. Theoretical analysis and simulation results are given to demonstrate the feasibility of the developed control strategy.
Highlights
With increasing demands for undersea exploration and exploitation, researches in related fields have been given a boost, especially the study of autonomous underwater vehicles (AUVs), which is an undersea system containing its own power and controlling itself while accomplishing a pre-defined task [1]
In this paper, based on good study of the nonlinear AUV model presented in [9], which is driven by four water pumps, a precise attitude controller with the combination of backstepping control and
A robust L1 backstepping attitude control has been proposed for AUVs in a dynamic environment
Summary
With increasing demands for undersea exploration and exploitation, researches in related fields have been given a boost, especially the study of autonomous underwater vehicles (AUVs), which is an undersea system containing its own power and controlling itself while accomplishing a pre-defined task [1]. In this paper, based on good study of the nonlinear AUV model presented in [9], which is driven by four water pumps, a precise attitude controller with the combination of backstepping control and. We chose the L1 backstepping adaptive control architecture to achieve robust attitude control of AUVs. due to physical design, the AUV could only provide sufficient moments on the pitch and yaw channels. The transient response analysis for pitch and yaw control is well studied with inspiration form the works in [11,19].
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