Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV

Juan Li,Jiajia Zhou,Zheping Yan,Haitao Gao

doi:10.1155/2014/714079

Abstract

This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance rejection control (DS-ADRC) to solve the path following control problem. This controller can effectively avoid the phenomenon of explosion of terms in the conventional backstepping method, reduce the dependence on the UUV controller mathematical model, and enhance the antijamming ability. Simulation is carried out to verify the effectiveness of the proposed control method for an underactuated UUV. The results show that, even for this controller with disturbance, the cross-track error of UUV is gradually converged to zero and has some certain robustness.

Highlights

The high accuracy path following mission is a typical behavior of unmanned underwater vehicle (UUV), and it is an important method for UUVs to complete other tasks [1]
This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane
We propose a method called dynamic surface and active disturbance rejection control (DSADRC) to solve the path following control problem

Summary

Introduction

The high accuracy path following mission is a typical behavior of UUVs, and it is an important method for UUVs to complete other tasks (such as topography examination and long distance navigation) [1]. The research on UUV’s tracking control mainly focuses on the following three aspects: way-point tracking [2,3,4], path following [5], and trajectory tracking [6]. Many scholars at home and abroad have further studies and proposed some mature control technologies in those fields of unmanned aerial vehicle (UAV), unmanned boat, the surface ship, the autonomous underwater vehicle (AUV), and so on. The path following of UUVs is usually simplified as the horizontal and vertical planes, and the controllers are designed, respectively. This paper mainly studies the problem of horizontal path following. Lapierre and Soetanto [7] designed an AUV tracking controller based on the Lyapunov method and the backstepping technique, and the AUV tracking error is gradually converged to zero

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Results

Conclusion