scholarly journals An Optimal Consensus Tracking Control Algorithm For Autonomous Underwater Vehicles With Disturbances

2012 ◽  
Vol 2 (2) ◽  
pp. 45-52 ◽  
Author(s):  
Jian Yuan
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Consensus Tracking

Fixed-time sliding mode tracking control for autonomous underwater vehicles

2021 ◽  
Vol 117 ◽  
pp. 102928
Author(s):  
Jiaqi Zheng ◽  
Lei Song ◽  
Lingya Liu ◽  
Wenbin Yu ◽  
Yiyin Wang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Fixed Time ◽  
Underwater Vehicles ◽  
Mode Tracking

Three-dimensional tracking control of autonomous underwater vehicles with limited torque and without velocity sensors

Robotica ◽  
2017 ◽  
Vol 36 (3) ◽  
pp. 374-394 ◽  
Author(s):  
Khoshnam Shojaei
Keyword(s):  
Tracking Control ◽  
Direct Method ◽  
Dimensional Space ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Estimation Errors ◽  
Trajectory Tracking Control ◽  
Environmental Disturbances ◽  
Control Signals

SUMMARYMost of the previous works on the motion control of autonomous underwater vehicles (AUVs) assume that (i) the vehicle actuators are able to tolerate every level of the control signals, and (ii) the vehicle is equipped with the velocity sensors in all degrees of freedom. These assumptions are not desirable in practice. Toward this end, this paper addresses the trajectory tracking control of the underactuated AUVs with the limited torque, without the velocity measurements and under environmental disturbances in a three-dimensional space. At first, a variable transformation is introduced which helps us to derive a second-order dynamic model for underactuated AUVs. Then, a saturated tracking controller is proposed by employing the saturation functions to bound the closed-loop error variables. This technique reduces the risk of the actuators saturation by decreasing the amplitude of the generated control signals. In addition, a nonlinear saturated observer is introduced to remove the velocity sensors from the control system. The proposed controller copes with the uncertain vehicle parameters, and constant or time-varying environmental disturbances induced by the waves and ocean currents. Lyapunov's direct method is used to show the semi-global uniform ultimate boundedness of the tracking and state estimation errors. Finally, some simulation results illustrate the effectiveness of the proposed controller.

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