3D Path Following Control of an Autonomous Underwater Robotic Vehicle Using Backstepping Approach Based Robust State Feedback Optimal Control Law
This work renders the design of a robust state feedback optimal control strategy for an Autonomous Underwater Robotic Vehicle (AURV). The control strategy is developed using a polytopic approach based on hydrodynamic parameter variation. Besides, a backstepping approach is designed to control the ki...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-01-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/2/277 |
| _version_ | 1797620096248578048 |
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| author | Siddhartha Vadapalli Subhasish Mahapatra |
| author_facet | Siddhartha Vadapalli Subhasish Mahapatra |
| author_sort | Siddhartha Vadapalli |
| collection | DOAJ |
| description | This work renders the design of a robust state feedback optimal control strategy for an Autonomous Underwater Robotic Vehicle (AURV). The control strategy is developed using a polytopic approach based on hydrodynamic parameter variation. Besides, a backstepping approach is designed to control the kinematics of the system. However, the dynamics of the AURV system are controlled by a robust optimal control technique. In this work, the decoupled systems for both horizontal and vertical dynamics of AURV are used for the development of the control algorithms. Furthermore, the 3-D path following is achieved by integrating the control algorithms of both horizontal and vertical dynamics of AURV. The proposed controller is formulated using semi-definite programming (SDP). To track the 3-D path, it is intended to track both the desired depth and desired yaw in diving and steering planes. The simulation studies are conducted through MATLAB/Simulink environment using the YALMIP tool. Furthermore, the robust behavior of the proposed control algorithm is verified by considering the uncertain hydrodynamic parameters. |
| first_indexed | 2024-03-11T08:36:56Z |
| format | Article |
| id | doaj.art-fdb5e8250daa4b4ab4e35ecfc7fc24a0 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T08:36:56Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-fdb5e8250daa4b4ab4e35ecfc7fc24a02023-11-16T21:26:57ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-01-0111227710.3390/jmse110202773D Path Following Control of an Autonomous Underwater Robotic Vehicle Using Backstepping Approach Based Robust State Feedback Optimal Control LawSiddhartha Vadapalli0Subhasish Mahapatra1School of Electronics Engineering, VIT-AP University, Amaravati 522237, AP, IndiaSchool of Electronics Engineering, VIT-AP University, Amaravati 522237, AP, IndiaThis work renders the design of a robust state feedback optimal control strategy for an Autonomous Underwater Robotic Vehicle (AURV). The control strategy is developed using a polytopic approach based on hydrodynamic parameter variation. Besides, a backstepping approach is designed to control the kinematics of the system. However, the dynamics of the AURV system are controlled by a robust optimal control technique. In this work, the decoupled systems for both horizontal and vertical dynamics of AURV are used for the development of the control algorithms. Furthermore, the 3-D path following is achieved by integrating the control algorithms of both horizontal and vertical dynamics of AURV. The proposed controller is formulated using semi-definite programming (SDP). To track the 3-D path, it is intended to track both the desired depth and desired yaw in diving and steering planes. The simulation studies are conducted through MATLAB/Simulink environment using the YALMIP tool. Furthermore, the robust behavior of the proposed control algorithm is verified by considering the uncertain hydrodynamic parameters.https://www.mdpi.com/2077-1312/11/2/277autonomous underwater robotic vehicle3D path following controllinear matrix inequalitiesrobust controlbackstepping |
| spellingShingle | Siddhartha Vadapalli Subhasish Mahapatra 3D Path Following Control of an Autonomous Underwater Robotic Vehicle Using Backstepping Approach Based Robust State Feedback Optimal Control Law Journal of Marine Science and Engineering autonomous underwater robotic vehicle 3D path following control linear matrix inequalities robust control backstepping |
| title | 3D Path Following Control of an Autonomous Underwater Robotic Vehicle Using Backstepping Approach Based Robust State Feedback Optimal Control Law |
| title_full | 3D Path Following Control of an Autonomous Underwater Robotic Vehicle Using Backstepping Approach Based Robust State Feedback Optimal Control Law |
| title_fullStr | 3D Path Following Control of an Autonomous Underwater Robotic Vehicle Using Backstepping Approach Based Robust State Feedback Optimal Control Law |
| title_full_unstemmed | 3D Path Following Control of an Autonomous Underwater Robotic Vehicle Using Backstepping Approach Based Robust State Feedback Optimal Control Law |
| title_short | 3D Path Following Control of an Autonomous Underwater Robotic Vehicle Using Backstepping Approach Based Robust State Feedback Optimal Control Law |
| title_sort | 3d path following control of an autonomous underwater robotic vehicle using backstepping approach based robust state feedback optimal control law |
| topic | autonomous underwater robotic vehicle 3D path following control linear matrix inequalities robust control backstepping |
| url | https://www.mdpi.com/2077-1312/11/2/277 |
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