期刊
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
卷 8, 期 3, 页码 2135-2147出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIV.2023.3240517
关键词
Trajectory tracking; Tracking; Kinematics; Adaptation models; Trajectory; Kinetic theory; Navigation; velocity compensation law; autonomous underwater vehicle; input saturation; dynamic surface control
In this paper, a control scheme is developed for the trajectory tracking problem of underactuated autonomous underwater vehicles with input saturation, parameter uncertainty, and disturbance. A novel continuous desired heading angle design is proposed, along with dynamic surface control and compensation filter to handle input saturation. Additionally, novel velocity compensation laws are designed to compensate for the sway velocity and handle parameter uncertainty. Simulation results confirm the effectiveness of the proposed method.
In this paper, a control scheme is designed for the trajectory tracking problem of underactuated autonomous underwater vehicles with input saturation, parameter uncertainty, and disturbance. First, a novel continuous desired heading angle is designed, which is better than traditional tracking error-based desired angle design and excludes the discontinuity problem of the desired angle in traditional design. Second, based on the desired heading angle design, dynamic surface control is introduced, which reduces the computational complexity, and the desired speed can be obtained. A compensation filter is used to compensate for the loss caused by the input saturation of the control signal. Third, novel velocity compensation laws are designed to compensate the sway velocity, which can overcome the challenge of underactuation. Moreover, the parameter uncertainty issue, which widely exists in most engineering systems, can also be handled by the novel velocity compensation laws. In the simulation, the performance of the desired heading angle and velocity compensation law designed in this paper are compared, and simulation results verify the effectiveness of the method proposed in this paper.
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