Abstract
The finite time controller is proposed to solve the point stabilization problem for a novel underwater spherical roving robot (BYSQ-3) in two-dimensional space. The finite time design scheme is a new method; the main advantage of this control scheme is that it can steer the robot to the origin in fast converging times without excessive control effort. Firstly, the physical prototype of BYSQ-3 is introduced and the equations describing the kinematics and dynamics of BYSQ-3 are established. Secondly, the finite time controller is constructed based on the backstepping method; the explicit form of the finite time controller is more concise compared with the other finite time controllers; there is no virtual input in the design process and the stability analysis is simple; the designed controller is easy for engineering implementation. Thirdly, the hydrodynamic characteristics is analyzed by CFD simulation; the simulation and experiment results are presented to validate the shorter convergence time and better stability character of the controller.
Highlights
Over the last two decades, the underwater autonomous vehicles (UAVs) have become a necessity for investigating and exploring the ocean resources
The UAV under consideration in this paper is BYSQ-3, a roving UAV developed at Beijing University of Posts and Telecommunications (BUPT)
The results show that the finite time control laws can steer the BYSQ-3 to the origin fast, accurately, and stably
Summary
Over the last two decades, the underwater autonomous vehicles (UAVs) have become a necessity for investigating and exploring the ocean resources. In [30], a class of nonholonomic systems in chained form which can model mobile robots and wheeled vehicles was studied, the finite time state feedback controller was addressed; the method requires the sway velocity satisfying the first-order nonholonomic constraints (the sway velocity must be zero); it cannot be applied to the control of UAVs. Motivated by [25,26,27,28,29,30,31], the finite time controller is constructed based on the adding a power integrator technique and backstepping method; the explicit form of the finite time controller is more concise compared with the finite time controller proposed in [30, 32, 33]; the coordinate transformations are introduced and the system is decoupled and the designed controller can steer the state variables to zero fast.
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