Abstract
This article addresses the design of adaptive target tracking control for an underactuated autonomous underwater vehicle subject to uncertain dynamics and external disturbances induced by ocean current. Firstly, based on the line-of-sight method, the moving target tracking guidance strategy is designed, and the target tracking reference speed and reference angular velocity are given. According to the obtained reference speed and reference angular velocities, the reference control quantity is differentiated and filtered based on dynamic surface control. The target tracking controller is designed based on radial basis function neural network and nonsingular terminal sliding mode control and adaptive techniques. Lyapunov stability principle is utilized to ensure the asymptotic stability of the target tracking controller. Simulation of target tracking is carried out to illustrate the effectiveness of the proposed controller.
Highlights
To describe the target tracking control problem, we introduce three tracking variables, d represents the distance between the Autonomous underwater vehicles (AUVs) and the target, b and a represent bearing angles that the target relative to the AUV, as shown in Figures 2 and 3
An adaptive target tracking controller based on nonsingular terminal sliding mode control is designed for underactuated AUV
Unknown dynamics of the AUV are approximated by RBFNN
Summary
Autonomous underwater vehicles (AUVs) have been widely studied due to the potential civil and military application values.[1,2,3] As a key technology of AUV, target tracking control is very important to the task, such as underwater target reconnaissance and surveillance, intelligence collection, port defense, time-sensitive strike, underwater docking recovery, submarine pipeline maintenance, and halobios observation.[4,5] Tracking an undersea moving object is frequently encountered in the unmanned underwater vehicle (UUV) applications, such as tracking a. The control objectives of this article are that we shall design control inputs tu, tq, and tr to force the AUV to asymptotically track the target with all tracking variables converging to a neighborhood of zero and the controller should be with robustness against to uncertainties of model dynamics and unknown environmental disturbances. Differentiating equation (3) yields the following error Let a_ 1⁄4 Àkaa, the virtual heading control law is dynamics in fBg considered: rc 1⁄4 ðtan q tan b cos a À 1ÞÀ11⁄2Àkaa þ q tan b sin a À ðu À z1dÞ sin a=ðd cos bÞ ð14Þ À ðÀv þ z2dÞ cos a=ðd cos bÞ where ka > 0 is a design parameter
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