Affiliation:
1. School of Ocean Engineering and Technology, Sun Yat-sen University, Zhuhai 519082, China
2. Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai 519000, China
3. YaGuang Technology Group Company Limited, Yuanjiang 413100, China
Abstract
In this paper, contraction theory is applied to design a control law to address the horizontal trajectory tracking problem of an underactuated autonomous underwater vehicle. Suppose that the vehicle faces challenges such as model uncertainties, external environmental disturbances, and actuator saturation. Firstly, a coordinate transformation is introduced to solve the problem of underactuation. Then, a disturbance observer is designed to estimate the total disturbances, which are composed of model uncertainties and external environmental disturbances. Next, a saturated controller is designed based on singular perturbation theory and contraction theory. Meanwhile, contraction theory is used to analyse the convergence properties of the observer and the full singular perturbation system, and make quantitative analysis of the estimation error and the tracking error. Finally, the results of numerical simulations prove that the method in this paper enables the vehicle to track the desired trajectory with relatively high accuracy, while the control inputs do not exceed the limitations of the actuators.
Subject
Ocean Engineering,Water Science and Technology,Civil and Structural Engineering
Cited by
2 articles.
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1. Research on trajectory tracking control of driverless cars based on game theory;Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering;2024-01-24
2. Hybrid Control Strategy for Underactuated AUVs to Overcoming Environmental Uncertainties;2023 International Conference on Radar, Antenna, Microwave, Electronics, and Telecommunications (ICRAMET);2023-11-15