Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller
In this study, the stochastic nonlinear system-based trajectory tracking control problem of an autonomous underwater vehicle (AUV) is studied. We investigate the time-varying gain adaptive control method to find possible approaches to reduce the excessive computational burden. Enhanced adaptive algo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/11/9/1748 |
| _version_ | 1797579344021815296 |
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| author | Fang Wang Yudong Peng Longchuan Guo |
| author_facet | Fang Wang Yudong Peng Longchuan Guo |
| author_sort | Fang Wang |
| collection | DOAJ |
| description | In this study, the stochastic nonlinear system-based trajectory tracking control problem of an autonomous underwater vehicle (AUV) is studied. We investigate the time-varying gain adaptive control method to find possible approaches to reduce the excessive computational burden. Enhanced adaptive algorithms are devised by considering the dynamic characteristics of AUV motion. By transforming the original controller design problems into parameter selection problems and subsequently solving them using the functional time-varying observer technical theorem, we can achieve optimal control performance. The control system is shown to constrain system state error due to stochastic disturbances within arbitrarily small domains. A coordinate transformation is proposed for all system states to meet boundedness conditions. We show that the closed-loop stability is confirmed, the system is asymptotically probabilistically stable, and contraction limits given in the stability analysis may be used to certify the convergence of the AUV trajectory errors. A large number of simulation studies using an underwater vehicle model have proved the effectiveness and robustness of the proposed approach. A real-time, time-varying gain constructive control strategy is further developed for the hardware-in-the-loop simulation; the effectiveness of the controller design is confirmed by introducing the controller into the AUV actuator model. |
| first_indexed | 2024-03-10T22:34:47Z |
| format | Article |
| id | doaj.art-044b59868b16490080a7636e0a6e33d9 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T22:34:47Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-044b59868b16490080a7636e0a6e33d92023-11-19T11:26:51ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-09-01119174810.3390/jmse11091748Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain ControllerFang Wang0Yudong Peng1Longchuan Guo2School of Information and Electrical Engineering, Hangzhou City University, Hangzhou 310015, ChinaSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, ChinaSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, ChinaIn this study, the stochastic nonlinear system-based trajectory tracking control problem of an autonomous underwater vehicle (AUV) is studied. We investigate the time-varying gain adaptive control method to find possible approaches to reduce the excessive computational burden. Enhanced adaptive algorithms are devised by considering the dynamic characteristics of AUV motion. By transforming the original controller design problems into parameter selection problems and subsequently solving them using the functional time-varying observer technical theorem, we can achieve optimal control performance. The control system is shown to constrain system state error due to stochastic disturbances within arbitrarily small domains. A coordinate transformation is proposed for all system states to meet boundedness conditions. We show that the closed-loop stability is confirmed, the system is asymptotically probabilistically stable, and contraction limits given in the stability analysis may be used to certify the convergence of the AUV trajectory errors. A large number of simulation studies using an underwater vehicle model have proved the effectiveness and robustness of the proposed approach. A real-time, time-varying gain constructive control strategy is further developed for the hardware-in-the-loop simulation; the effectiveness of the controller design is confirmed by introducing the controller into the AUV actuator model.https://www.mdpi.com/2077-1312/11/9/1748trajectory trackingAUV adaptive controlstochastic uncertain nonlinear systemdynamic and static gain |
| spellingShingle | Fang Wang Yudong Peng Longchuan Guo Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller Journal of Marine Science and Engineering trajectory tracking AUV adaptive control stochastic uncertain nonlinear system dynamic and static gain |
| title | Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller |
| title_full | Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller |
| title_fullStr | Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller |
| title_full_unstemmed | Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller |
| title_short | Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller |
| title_sort | research on practical path tracking control of autonomous underwater vehicle based on constructive dynamic gain controller |
| topic | trajectory tracking AUV adaptive control stochastic uncertain nonlinear system dynamic and static gain |
| url | https://www.mdpi.com/2077-1312/11/9/1748 |
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