Antidisturbance Control for AUV Trajectory Tracking Based on Fuzzy Adaptive Extended State Observer.

Song Kang,Yongfeng Rong,Wusheng Chou

doi:10.3390/s20247084

Song Kang, Yongfeng Rong + Show 1 more

Open Access

https://doi.org/10.3390/s20247084

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Journal: Sensors (Basel, Switzerland)	Publication Date: Dec 10, 2020
Citations: 19	License type: CC BY 4.0

Affiliation: Beihang University

Abstract

In this paper, an output-feedback fuzzy adaptive dynamic surface controller (FADSC) based on fuzzy adaptive extended state observer (FAESO) is proposed for autonomous underwater vehicle (AUV) systems in the presence of external disturbances, parameter uncertainties, measurement noises and actuator faults. The fuzzy logic system is incorporated into both the observers and controllers to improve the adaptability of the entire system. The dynamics of the AUV system is established first, considering the external disturbances and parameter uncertainties. Based on the dynamic models, the ESO, combined with a fuzzy logic system tuning the observer bandwidth, is developed to not only adaptively estimate both system states and the lumped disturbances for the controller, but also reduce the impact of measurement noises. Then, the DSC, together with fuzzy logic system tuning the time constant of the low-pass filter, is designed using estimations from the FAESO for the AUV system. The asymptotic stability of the entire system is analyzed through Lyapunov’s direct method in the time domain. Comparative simulations are implemented to verify the effectiveness and advantages of the proposed method compared with other observers and controllers considering external disturbances, parameter uncertainties and measurement noises and even the actuator faults that are not considered in the design process. The results show that the proposed method outperforms others in terms of tracking accuracy, robustness and energy consumption.

Highlights

In worldwide, the use of underwater robots to replace human beings in the complex underwater environment is the future development trend of the epicontinental sea natural aquaculture in a wide range of applications, including fishing, seabed mapping, environmental monitoring and so on [1,2,3].Trajectory tracking of autonomous underwater vehicles (AUVs) is the basis of many underwater operations, which is a tough problem in the presence of both internal and external disturbances.In most of the practical applications, the AUV dynamics are always coupled and highly nonlinear.The effect of external disturbances such as waves, wind and ocean current cannot be neglected.Parameter uncertainties and measurement noises should be considered
The objective of this paper is to develop an antidisturbance control scheme using fuzzy adaptive extended state observer (FAESO)-based
The fuzzy logic systems are designed both for the time constant tuning of the low-pass filter in dynamic surface control (DSC) and the bandwidth of extended state observer (ESO)

Summary

Introduction

The use of underwater robots to replace human beings in the complex underwater environment is the future development trend of the epicontinental sea natural aquaculture in a wide range of applications, including fishing, seabed mapping, environmental monitoring and so on [1,2,3].Trajectory tracking of autonomous underwater vehicles (AUVs) is the basis of many underwater operations, which is a tough problem in the presence of both internal and external disturbances.In most of the practical applications, the AUV dynamics are always coupled and highly nonlinear.The effect of external disturbances such as waves, wind and ocean current cannot be neglected.Parameter uncertainties and measurement noises should be considered. The use of underwater robots to replace human beings in the complex underwater environment is the future development trend of the epicontinental sea natural aquaculture in a wide range of applications, including fishing, seabed mapping, environmental monitoring and so on [1,2,3]. Trajectory tracking of autonomous underwater vehicles (AUVs) is the basis of many underwater operations, which is a tough problem in the presence of both internal and external disturbances. The effect of external disturbances such as waves, wind and ocean current cannot be neglected. Parameter uncertainties and measurement noises should be considered. All these factors make the designs of the control laws for AUVs trajectory tracking problem more difficult and challenging [4]

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Conclusion