Abstract
In this article, the three-dimensional trajectory tracking control of an autonomous underwater vehicle is addressed. The vehicle is assumed to be underactuated and the system parameters and the external disturbances are unknown. First, the five degrees of freedom kinematics and dynamics model of underactuated autonomous underwater vehicle are acquired. Following this, reduced-order linear extended state observers are designed to estimate and compensate for the uncertainties that exist in the model and the external disturbances. A backstepping active disturbance rejection control method is designed with the help of a time-varying barrier Lyapunov function to constrain the position tracking error. Furthermore, the controller system can be proved to be stable by employing the Lyapunov stability theory. Finally, the simulation and comparative analyses demonstrate the usefulness and robustness of the proposed controller in the presence of internal parameter uncertainties and external time-varying disturbances.
Highlights
Autonomous underwater vehicles (AUVs) are widely used in marine scientific investigation, marine mineral exploration, and oceanographic mapping.[1]
The results clearly demonstrate the effectiveness of the designed reduced-order linear extended state observers (RLESOs)
A backstepping Active disturbance rejection control (ADRC) controller based on the time-varying barrier Lyapunov function is developed to achieve three-dimensional trajectory tracking control of underactuated AUVs in the presence of internal parameter uncertainties and external time-varying disturbances and guarantee the satisfaction of predefined performance requirements
Summary
Autonomous underwater vehicles (AUVs) are widely used in marine scientific investigation, marine mineral exploration, and oceanographic mapping.[1]. A barrier Lyapunov function is incorporated with the backstepping control scheme to handle the position tracking error constraint.[20] Prescribed performance functions have been adopted to constrain the position and orientation errors of an underactuated AUV which can ensure both the prescribed transient and steady-state performance constraints.[21,22] But in these studies, point-to-point navigation is used and it is worth noting that the desired yaw angle is not continuously differentiable when the position error equals zero To avoid this problem, the position tracking error converges to a constant instead of zero. Based on the above analysis, that reduced-order linear extended state observers (RLESOs) are used to estimate and compensate for the total disturbances which can improve the performance of backstepping controller and enhance the robustness of underactuated AUVs. Besides, TD can be used to provide the filtered version of the input signal and its differentiation. Equation (59) means that the tracking error signals converge to a compression bounded value near the zero by increasing control gains appropriately and the system is stable.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
