Dynamic event-triggered observer-based control for autonomous underwater vehicles in the Trans-Atlantic Geotraverse hydrothermal field using rotation matrices

Abstract

The issue of dynamic event-triggered trajectory tracking control of autonomous underwater vehicles (AUVs) in the Trans-Atlantic Geotraverse (TAG) active mound is addressed. Concretely, a novel adaptive event-triggered disturbance observer along with auxiliary functions is constructed to handle with actuator faults and ocean current in the TAG active mound. By using rotation matrices, a new tracking error system involving position and attitude is developed such that potential singularities caused by the large pitch will be sufficiently avoided. By deep combination with model parameters, a sliding mode manifold based on additional velocity errors is established to promote robustness and convergence. Following the detailed analysis, sufficient conditions for the input-to-state practical stability in mean square are given to ensure the tracking performance. An adaptive dynamic event-trigger method is applied to reduce the communication frequency between the embedded PC module and actuators. Finally, the applications of an AUV tracking system in the near-bottom hydrothermal mound are carried out to verify the efficiency of the presented method.