Abstract
In this paper, robust adaptive tracking control is proposed for the underwater robot in the presence of parametric uncertainties and unknown external disturbances. Backstepping control of the system dynamics is introduced to develop full state feedback tracking control. Using parameter adaptation, backstepping control and variable structure based techniques, the robust adaptive tracking control is presented for underwater robots to handle the uncertainties, saturation and dead-zone characteristics of actuators. Actuator nonlinearities comprising of dead-zone and saturation are explicitly considered in the tracking control design. Under the proposed tracking control, semi-global uniform boundedness of the closed-loop signals is guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed robust adaptive tracking control.
Highlights
In the marine engineering, various underwater robots and vehicles have been designed and developed for practical applications such as the exploration of deep sea environments, structure and subsurface monitoring, subsea maintenance, and biological surveys
A large number of effective control techniques have been proposed for underwater robots such as robust adaptive control [1], sliding mode control [2], and neural network control [3]
Extensive simulation has been carried to demonstrate the effectiveness of the state feedback tracking control designed in Setion
Summary
Various underwater robots and vehicles have been designed and developed for practical applications such as the exploration of deep sea environments, structure and subsurface monitoring, subsea maintenance, and biological surveys. To handle the actuator dead-zone problem, robust adaptive controls have been proposed for uncertain plants in [6,7,8,9]. Adaptive neural control of MIMO nonlinear time varying delay systems with unknown deadzone and gain signs has been developed via the proposed description of a general nonlinear dead-zone model [10]. Adaptive dynamic surface control was proposed to handle a class of pure-feedback nonlinear systems with unknown dead zone and perturbed uncertainties [11]. The backstepping tracking control is proposed for the uncertain MIMO nonlinear dynamics of an underwater robot with input dead-zone and saturation. This work is motivated by the tracking control of the underwater robot with uncertainties, input dead-zone and saturation.
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