An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics
In this paper, we propose a trajectory tracking controller with experimental verification for torpedo-like autonomous underwater vehicles (AUVs) with underactuation characteristics. The proposed controller overcomes the underactuation problem by designing the desired error dynamics in a coupled form...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-06-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/11/7/1334 |
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| author | Gun Rae Cho Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Ji-Hong Li Hosung Kim Hansol Lee Gwonsoo Lee |
| author_facet | Gun Rae Cho Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Ji-Hong Li Hosung Kim Hansol Lee Gwonsoo Lee |
| author_sort | Gun Rae Cho |
| collection | DOAJ |
| description | In this paper, we propose a trajectory tracking controller with experimental verification for torpedo-like autonomous underwater vehicles (AUVs) with underactuation characteristics. The proposed controller overcomes the underactuation problem by designing the desired error dynamics in a coupled form using state variables in body-fixed and world coordinates. Unlike the back-stepping control requiring high-order derivatives of state variables, the proposed controller only requires the first derivatives of the states, which can alleviate noise magnification issues due to differentiation. We adopt time delay estimation to estimate the dynamics indirectly using control inputs and vehicle outputs, making the proposed controller relatively easy to apply without requiring the all of the vehicle dynamics. We also address some practical issues that commonly arise in experimental environments: handling measurement noises and actuation limits. To mitigate the effects of noise on the controller, a filtering technique using a moving window average is employed. Additionally, to account for the actuation limits, we design an anti-windup structure that takes into consideration the nonlinearity between the thrusting force and rotating speed of the thruster. We verify the tracking performance of the proposed controller through experimentation using an AUV. The experimental results show that the 3D motion control of the proposed controller exhibits an RMS error of 0.3216 m and demonstrate that the proposed controller achieves accurate tracking performance, making it suitable for survey missions that require tracking errors of less than one meter. |
| first_indexed | 2024-03-11T00:56:28Z |
| format | Article |
| id | doaj.art-2db6e858ffce4df6a43b5fb522a728ed |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T00:56:28Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-2db6e858ffce4df6a43b5fb522a728ed2023-11-18T19:58:44ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-06-01117133410.3390/jmse11071334An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error DynamicsGun Rae Cho0Hyungjoo Kang1Min-Gyu Kim2Mun-Jik Lee3Ji-Hong Li4Hosung Kim5Hansol Lee6Gwonsoo Lee7Korea Institute of Robotics and Technology Convergence, Pohang 37666, Republic of KoreaKorea Institute of Robotics and Technology Convergence, Pohang 37666, Republic of KoreaKorea Institute of Robotics and Technology Convergence, Pohang 37666, Republic of KoreaKorea Institute of Robotics and Technology Convergence, Pohang 37666, Republic of KoreaKorea Institute of Robotics and Technology Convergence, Pohang 37666, Republic of KoreaHanwha Systems, Gumi 39376, Republic of KoreaHanwha Systems, Gumi 39376, Republic of KoreaDepartment of Mechatronics Engineering, Chungnam National University, Daejeon 34134, Republic of KoreaIn this paper, we propose a trajectory tracking controller with experimental verification for torpedo-like autonomous underwater vehicles (AUVs) with underactuation characteristics. The proposed controller overcomes the underactuation problem by designing the desired error dynamics in a coupled form using state variables in body-fixed and world coordinates. Unlike the back-stepping control requiring high-order derivatives of state variables, the proposed controller only requires the first derivatives of the states, which can alleviate noise magnification issues due to differentiation. We adopt time delay estimation to estimate the dynamics indirectly using control inputs and vehicle outputs, making the proposed controller relatively easy to apply without requiring the all of the vehicle dynamics. We also address some practical issues that commonly arise in experimental environments: handling measurement noises and actuation limits. To mitigate the effects of noise on the controller, a filtering technique using a moving window average is employed. Additionally, to account for the actuation limits, we design an anti-windup structure that takes into consideration the nonlinearity between the thrusting force and rotating speed of the thruster. We verify the tracking performance of the proposed controller through experimentation using an AUV. The experimental results show that the 3D motion control of the proposed controller exhibits an RMS error of 0.3216 m and demonstrate that the proposed controller achieves accurate tracking performance, making it suitable for survey missions that require tracking errors of less than one meter.https://www.mdpi.com/2077-1312/11/7/1334autonomous underwater vehiclesrobust trajectory trackingcoupled desired error dynamicstime delay estimation |
| spellingShingle | Gun Rae Cho Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Ji-Hong Li Hosung Kim Hansol Lee Gwonsoo Lee An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics Journal of Marine Science and Engineering autonomous underwater vehicles robust trajectory tracking coupled desired error dynamics time delay estimation |
| title | An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics |
| title_full | An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics |
| title_fullStr | An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics |
| title_full_unstemmed | An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics |
| title_short | An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics |
| title_sort | experimental study on trajectory tracking control of torpedo like auvs using coupled error dynamics |
| topic | autonomous underwater vehicles robust trajectory tracking coupled desired error dynamics time delay estimation |
| url | https://www.mdpi.com/2077-1312/11/7/1334 |
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