Journal
OCEAN ENGINEERING
Volume 134, Issue -, Pages 157-172Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2017.02.006
Keywords
Autonomous underwater vehicles (AUVs); Trajectory tracking; Exponential convergence; Robust control
Funding
- National Natural Science Foundation of China [61473183, 61521063, U1509211]
- Program of Shanghai Subject Chief Scientist [14XD1402400]
- National Postdoctoral Innovative Talent Program [BX201600103]
- China Postdoctoral Science Foundation [2016M601600]
Ask authors/readers for more resources
This paper deals with the trajectory tracking problem of autonomous underwater vehicles (AUVs) in the presence of dynamic uncertainties and time -varying external disturbances. Three exponentially convergent robust controllers, namely, the min-max type controller, the saturation type controller and the smooth transition type controller are proposed to drive an AUV to track a predefined trajectory. It is shown that the filtered tracking errors, position tracking errors and velocity tracking errors for the three proposed controllers are exponentially convergent. Moreover, all the above tracking errors for the three proposed controllers can be shaped by specific analytic expressions and such expressions illustrate how the transient responses of the above tracking errors can be modified by adjusting the control parameters. The characteristics of the three proposed controllers are summarized and demonstrated with numerical simulations. Theoretical comparison analysis and comparative simulations with the existing RISE-based controller of AUV are presented to show the effectiveness of the three proposed exponentially convergent robust controllers.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available