Abstract
The aim of this study is to achieve the trajectory-tracking control of an autonomous underwater vehicle (AUV) in the presence of random system uncertainties and external current disturbances. A comprehensive model of an AUV is developed based on its kinematic and dynamic models. By means of appropriate transformations, a new system dynamic equation with arguments of positions and orientations is obtained for the controller design. Here, a proposed finite-time robust tracking control (FTRTC) based on a nonlinear sliding surface constructed using the tracking error which leads not only to trajectory-tracking of the AUV system with a finite-time convergence, but also a high level of robust performance. The stability of the overall system is assured via the Lyapunov stability criteria. Computer simulations conducted using the developed controller demonstrates the feasibility and effectiveness of the proposed FTRTC. Moreover, the simulation results showed that the proposed control scheme resulted in a high level of robustness of the closed-loop control system.
Highlights
The underwater autonomous vehicles (AUVs) research and development has been in the rise for the past two decades due to increase in their utility and the advances made in many related fields, such as underwater robotics, artificial intelligence, and control
The main contributions of the work presented here are as follows: (1) Develop a comprehensive AUV model for the control design technique delineated in this manuscript; (2) Transform the system’s equation based on a combination and fusion of the kinematic and dynamic equations to obtain a control design model; (3) Design a finite-time robust trajectory tracking controller to mitigate the effect of the modeling uncertainties and external current disturbances; (4) Demonstrate the stability of the closed-loop system and validate the results through numerical simulations; (5) Provide discussions for the results for the closed-loop system performance and demonstrate the extent of its robustness, finite-time tracking performance, and possible applicability to other analogous nonlinear systems
The work presented here deals with the control of an AUV system using a novel robust control technique known as finite-time robust tracking control (FTRTC)
Summary
The underwater autonomous vehicles (AUVs) research and development has been in the rise for the past two decades due to increase in their utility and the advances made in many related fields, such as underwater robotics, artificial intelligence, and control. Liang et al.[6] developed a finite-time velocity-observed based adaptive output-feedback tracking controller and validated the design with numerical simulations Both of the aforementioned techniques led to fast convergence and prescribed performance. The main contributions of the work presented here are as follows: (1) Develop a comprehensive AUV model for the control design technique delineated in this manuscript; (2) Transform the system’s equation based on a combination and fusion of the kinematic and dynamic equations to obtain a control design model; (3) Design a finite-time robust trajectory tracking controller to mitigate the effect of the modeling uncertainties and external current disturbances; (4) Demonstrate the stability of the closed-loop system and validate the results through numerical simulations; (5) Provide discussions for the results for the closed-loop system performance and demonstrate the extent of its robustness, finite-time tracking performance, and possible applicability to other analogous nonlinear systems. The aforementioned system matrices are respectively described as follows[15]:
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