Robust trajectory tracking control for an underactuated autonomous underwater vehicle based on bioinspired neurodynamics

Yunbiao Jiang,Haomiao Yu,Chen Guo

doi:10.1177/1729881418806745

Abstract

This article investigates the three-dimensional trajectory tracking control problem for an underactuated autonomous underwater vehicle in the presence of parameter perturbations and external disturbances. An adaptive robust controller is proposed based on the velocity control strategy and adaptive integral sliding mode control algorithm. First, the desired velocities are developed using coordinate transformation and the backstepping method, which is the necessary velocities for autonomous underwater vehicle to track the time-varying desired trajectory. The bioinspired neurodynamics is used to smooth the desired velocities, which effectively avoids the jump problem of the velocity and simplifies the derivative calculation. Then, the dynamic control laws are designed based on the adaptive integral sliding mode control to drive the underactuated autonomous underwater vehicle to sail at the desired velocities. At the same time, the auxiliary control laws and the adaptive laws are introduced to eliminate the influence of parameter perturbations and external disturbances, respectively. The stability of the control system is guaranteed by the Lyapunov theorem, which shows that the system is asymptotically stable and all tracking errors are asymptotically convergent. At the end, numerical simulations are carried out to demonstrate the effectiveness and robustness of the proposed controller.

Highlights

The autonomous underwater vehicle (AUV) plays an increasingly important role in the marine engineering and military fields, such as oceanographic mapping, submarine pipeline monitoring, hydrological surveys, and coastal defense.[1–4] The trajectory tracking control technology is an important prerequisite for the AUV to accomplish a variety of complex tasks.[5–7] Considering the manufacturing costs, energy consumption, and load capacity, most AUVs are underactuated, which belong to the second-order nonholonomic robot
A preliminary conclusion can be drawn: The proposed controller can drive the underactuated AUV to sail at the desired velocities to track the desired trajectory, and the control system satisfies the stability defined by Lyapunov theorem in the presence of parameter perturbations and external disturbances
The trajectory tracking controller is designed for an underactuated AUV with full consideration of uncertain disturbances and practical feasibility in the marine environment

Summary

Introduction

The autonomous underwater vehicle (AUV) plays an increasingly important role in the marine engineering and military fields, such as oceanographic mapping, submarine pipeline monitoring, hydrological surveys, and coastal defense.[1–4] The trajectory tracking control technology is an important prerequisite for the AUV to accomplish a variety of complex tasks.[5–7] Considering the manufacturing costs, energy consumption, and load capacity, most AUVs are underactuated, which belong to the second-order nonholonomic robot. Based on the inspiration and analysis of the abovementioned achievements, this article proposes an adaptive robust control strategy for the 3-D trajectory tracking problem of an underactuated AUV. 0. That is, the outputs tu, tq, and tr of the controller could drive the AUV to track the desired trajectory in the presence of parameter perturbations and external disturbances.

Results

Conclusion