Robust path-following control of underactuated AUVs with multiple uncertainties and state constraints

Kankan Deng,Xingyu Sun,Jianming Miao

doi:10.1088/1742-6596/2121/1/012042

Kankan Deng, Xingyu Sun + Show 1 more

Open Access

https://doi.org/10.1088/1742-6596/2121/1/012042

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Abstract

This paper proposes a novel robust controller for horizontal path-following problem of an underactuated AUV subject to multiple uncertainties and state constraints. Firstly, four reduced-order extended state observes (ESOs) are designed to estimate the multiple uncertainties, and the estimated values are adopted in the design of kinematic and dynamic controller. Secondly, to address the state constraints, the barrier Lyapunov function is incorporated with the kinematic controller. To resolve the problem of input saturation, the auxiliary design system is utilized in the dynamic controller. To address the problem of “explosion of complexity” inherent in the conventional back-stepping method, a nonlinear tracking differentiator is utilized to obtain the derivative of the desired yaw speed. Finally, the results of numerical simulation are performed to demonstrate the effectiveness of the proposed controller.

Highlights

In recent years, autonomous underwater vehicle (AUV) has been widely utilized in all kinds of underwater applications, such as deep sea exploration, underwater target tacking and ocean sampling [1, 2]
This paper proposes a novel robust controller for horizontal path-following problem of an underactuated AUV subject to multiple uncertainties and state constraints
Inspired by the afore-mentioned considerations, this paper proposes a robust controller for horizontal path-following of an underactuated AUV subject to multiple uncertainties and state constraints

Summary

Introduction

Autonomous underwater vehicle (AUV) has been widely utilized in all kinds of underwater applications, such as deep sea exploration, underwater target tacking and ocean sampling [1, 2]. In [5], a novel controller was presented for the path-following of an underactuated unmanned surface vehicle (USV) with disturbances. In [6], a trajectory tracking controller, which was incorporated with barrier Lyapunov function, was proposed for an USV with input saturation and full-state constraints. The barrier Lyapunov function was employed to address the full-state constraints, and an anti-windup compensator was utilized to compensate the input saturation. Inspired by the afore-mentioned considerations, this paper proposes a robust controller for horizontal path-following of an underactuated AUV subject to multiple uncertainties and state constraints. Published under licence by IOP Publishing Ltd multiple uncertainties, including the model parameters perturbances, the environment disturbances, and unmodeled dynamics, are estimated by the constructed reduced-order ESOs, the state constraints are addressed by using the barrier Lyapunov function, and the input saturation is compensated by the antiwindup compensator

Underactuated AUV model

Yaw angular velocity control law design

Simulation results

Conclusion