期刊
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
卷 17, 期 9, 页码 6114-6124出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2020.3036665
关键词
Underwater vehicles; Trajectory tracking; Predictive models; Three-dimensional displays; Observers; Solid modeling; Kinetic theory; 3-D trajectory tracking; extended state observer (ESO); model predictive control (MPC); robust control; underactuated underwater vehicle
类别
资金
- National Natural Science Foundation of China [U1909206, 61725305, 61633004, 61633020, 62073196, TII-20-4359]
This article proposes a controller based on ESO for trajectory tracking of underwater vehicles, addressing challenges such as underactuation, velocity constraint, and disturbances. The use of a model predictive governor and ESO improves accuracy and stability in tracking, laying a foundation for underactuated trajectory tracking control in complex underwater environments.
In this article, an extended state observer (ESO)-based controller with a model predictive governor is designed for 3-D trajectory tracking of underactuated underwater vehicles. The proposed control scheme takes three primary challenges including underactuated property, velocity constraint, and lumped disturbance into consideration. With respect to the model predictive governor, an underactuated kinematic tracking error model is utilized to produce reference velocities. Meanwhile, a heading angle compensation mechanism is utilized to avoid the steady tracking errors resulting from dynamics coupling of the vehicle. Besides, an ESO is designed to estimate the lumped disturbances and unmeasured velocity states. Based on the ESO, a kinetic controller is offered to accomplish the precise velocity tracking only in virtue of the position and orientation information. Note that this article details both the design process of the control scheme and rigorous theoretical analysis. Eventually, simulation and experimental results demonstrate the feasibility and superiority of the proposed method. Notably, this work lays the foundation for the underactuated trajectory tracking control in complicated and turbulent underwater environments.
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