A neurodynamics control strategy for real-time tracking control of autonomous underwater vehicle

2013 ◽  
Author(s):  
Xun Hua ◽  
Daqi Zhu ◽  
Xiang Cao
Keyword(s):  
Real Time ◽  
Control Strategy ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Real Time Tracking

3D real-time tracking, following and imaging of white sharks with an Autonomous Underwater Vehicle

2015 ◽  
Author(s):  
Amy L. Kukulya ◽  
Roger Stokey ◽  
Robin Littlefield ◽  
Frederic Jaffre ◽  
Edgar Mauricio Hoyos Padilla ◽  
...  
Keyword(s):  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Real Time Tracking

Three Dimensional Path Planning of Autonomous Underwater Vehicles

2013 ◽  
Vol 328 ◽  
pp. 128-132
Author(s):  
Yan Peng ◽  
Wei Qing Wu ◽  
Mei Liu ◽  
Shao Rong Xie ◽  
Jun Luo
Keyword(s):  
Lyapunov Function ◽  
Path Planning ◽  
Real Time ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Control Lyapunov Function

The path planning relates to the safe movement and navigation of the Autonomous Underwater Vehicles (AUV). This paper discusses the way of real-time path planning for autonomous underwater vehicle based on tracking control lyapunov function. The simulation conducted on H300 illustrates the effectiveness of proposed method.

scholarly journals Path Following Control of Fully Actuated Autonomous Underwater Vehicle Based on LADRC

2018 ◽  
Vol 25 (4) ◽  
pp. 39-48 ◽  
Author(s):  
Habib Choukri Lamraoui ◽  
Zhu Qidan
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Path Following ◽  
Underwater Vehicle ◽  
Control Law ◽  
External Disturbances ◽  
Path Following Control ◽  
State Measurement ◽  
Full State

Abstract This paper presents an active disturbances rejecter controller (ADRC) for position and path following control of a fully actuated autonomous underwater vehicle (AUV). The unmodeled, undesirable dynamics and disturbances reduce the performances of classical controllers and complicate the design of appropriate and efficient controllers. In the proposed approach, the different modeling complexities; such as uncertain parameters, non-linearities, and external disturbances are considered all as a part of disturbance which is estimated in real-time by the extended state observer ESO, and effectively compensated from the control law. The ESO is also able to estimate the position and velocity of the system in real-time, in case where the full state measurement of the AUV is not possible during experiments. Computer simulations demonstrate the high ability of the AUV tracking control based on ADRC, to follow the desired trajectory in the horizontal plane and space with high precision, and showed high robustness and efficiency in rejecting the external and internal disturbances caused by significant changes in parameters of the system, and the added position disturbances.

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

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