期刊
COMPUTERS & OPERATIONS RESEARCH
卷 84, 期 -, 页码 165-177出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.cor.2016.09.017
关键词
Autonomous underwater vehicle (AUV); Path following; 3D guidance; Robust fuzzy control
类别
资金
- European Marie Curie ESR Fellowship
- EU FP6 FreeSubNet Project [036186]
- National Natural Science Foundation of China [51579111, 51209100]
This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and external uncertainties. A two-layered framework synthesizing the 3D guidance law and heuristic fuzzy control is proposed to achieve robust adaptive following along a predefined path. In the first layer, a 3D guidance controller for underactuated AUV is presented to guarantee the stability of path following in the kinematics stage. In the second layer, a heuristic adaptive fuzzy algorithm based on the guidance command and feedback linearization Proportional-Integral-Derivative (PID) controller is developed in the dynamics stage to account for the nonlinear dynamics and system uncertainties, including inaccuracy modelling parameters and time varying environmental disturbances. Furthermore, the sensitivity analysis of the heuristic fuzzy controller is presented. Against most existing methods for 3D path following, the proposed robust fuzzy control scheme reduces the design and implementation costs of complicated dynamics controller, and relaxes the knowledge of the accuracy dynamics modelling and environmental disturbances. Finally, numerical simulation results validate the effectiveness of the proposed control framework and illustrate the outper-formance of the proposed controller as well. (C) 2016 Elsevier Ltd. All rights reserved.
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