期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 29, 期 14, 页码 4629-4643出版社
WILEY
DOI: 10.1002/rnc.4659
关键词
additional control; autonomous underwater vehicle; prescribed performance; robust adaptive control; virtual parameter
资金
- National Natural Science Foundation of China [51079013]
In this paper, a novel robust adaptive trajectory tracking control scheme with prescribed performance is developed for underactuated autonomous underwater vehicles (AUVs) subject to unknown dynamic parameters and disturbances. A simple error mapping function is proposed in order to guarantee that the trajectory tracking error satisfies the prescribed performance. A novel additional control based on Nussbaum function is proposed to handle the underactuation of AUVs. The compounded uncertain item caused by the unknown dynamic parameters and disturbances is transformed into a linear parametric form with only single unknown parameter called virtual parameter. On the basis of the above, a novel robust adaptive trajectory tracking control law is developed using dynamic surface control technique, where the adaptive law online provides the estimation of the virtual parameter. Strict stability analysis indicates that the designed control law ensures uniform ultimate boundedness of the AUV trajectory tracking closed-loop control system with prescribed tracking performance. Simulation results on an AUV in two different disturbance cases with dynamic parameter perturbation verify the effectiveness of our adaptive trajectory tracking control scheme.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据