Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation
In this paper, an observer-based adaptive control method is investigated for the horizontal trajectory tracking of autonomous underwater vehicles (AUV) with input saturation and system disturbances. Firstly, the desired surge speed and trajectory angle are established, which could decouple the track...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/23/12549 |
| _version_ | 1797400463823339520 |
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| author | Qiang Li Qing Lv Haijun Lai Zhenyu Xie Jin Wang |
| author_facet | Qiang Li Qing Lv Haijun Lai Zhenyu Xie Jin Wang |
| author_sort | Qiang Li |
| collection | DOAJ |
| description | In this paper, an observer-based adaptive control method is investigated for the horizontal trajectory tracking of autonomous underwater vehicles (AUV) with input saturation and system disturbances. Firstly, the desired surge speed and trajectory angle are established, which could decouple the tracking error subsystem and avoid the complex form. Secondly, the input saturation is approximated by a smooth function, and a nonlinear extended states observer (NESO) is designed for estimating system disturbances. Based on the command filtered backstepping technique, which can avoid the explosion caused by the derivative of the virtual control, an observer-based adaptive output feedback control method is developed, and an auxiliary system is applied to compensate for filtered tracking errors, input saturation bias, and observer errors. Finally, simulation results show the proposed method has good robustness in the face of system uncertainties, and the error is nearly 33.3% smaller than that of other control methods when meeting sudden trajectory changes. A good control performance is guaranteed. |
| first_indexed | 2024-03-09T01:55:54Z |
| format | Article |
| id | doaj.art-9602a139883b4d53be59c2d7aee73499 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T01:55:54Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-9602a139883b4d53be59c2d7aee734992023-12-08T15:10:56ZengMDPI AGApplied Sciences2076-34172023-11-0113231254910.3390/app132312549Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input SaturationQiang Li0Qing Lv1Haijun Lai2Zhenyu Xie3Jin Wang4Hebei Provincial Key Laboratory of Information Fusion and Intelligent Control, Shijiazhuang 050024, ChinaHebei Provincial Key Laboratory of Information Fusion and Intelligent Control, Shijiazhuang 050024, ChinaHebei Provincial Key Laboratory of Information Fusion and Intelligent Control, Shijiazhuang 050024, ChinaHebei Provincial Key Laboratory of Information Fusion and Intelligent Control, Shijiazhuang 050024, ChinaHebei Provincial Key Laboratory of Information Fusion and Intelligent Control, Shijiazhuang 050024, ChinaIn this paper, an observer-based adaptive control method is investigated for the horizontal trajectory tracking of autonomous underwater vehicles (AUV) with input saturation and system disturbances. Firstly, the desired surge speed and trajectory angle are established, which could decouple the tracking error subsystem and avoid the complex form. Secondly, the input saturation is approximated by a smooth function, and a nonlinear extended states observer (NESO) is designed for estimating system disturbances. Based on the command filtered backstepping technique, which can avoid the explosion caused by the derivative of the virtual control, an observer-based adaptive output feedback control method is developed, and an auxiliary system is applied to compensate for filtered tracking errors, input saturation bias, and observer errors. Finally, simulation results show the proposed method has good robustness in the face of system uncertainties, and the error is nearly 33.3% smaller than that of other control methods when meeting sudden trajectory changes. A good control performance is guaranteed.https://www.mdpi.com/2076-3417/13/23/12549AUVtrajectory trackingNESOadaptive controlinput saturation |
| spellingShingle | Qiang Li Qing Lv Haijun Lai Zhenyu Xie Jin Wang Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation Applied Sciences AUV trajectory tracking NESO adaptive control input saturation |
| title | Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation |
| title_full | Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation |
| title_fullStr | Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation |
| title_full_unstemmed | Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation |
| title_short | Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation |
| title_sort | observer based adaptive control for trajectory tracking of auvs with input saturation |
| topic | AUV trajectory tracking NESO adaptive control input saturation |
| url | https://www.mdpi.com/2076-3417/13/23/12549 |
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