Adaptive asymptotic tracking control for autonomous underwater vehicles with non-vanishing uncertainties and input saturation

被引：17
|
作者：
Zhang, Yuxi
Liu, Jiapeng [1 ]
Yu, Jinpeng
机构：
[1] Qingdao Univ, Sch Automat, Qingdao 266071, Peoples R China
来源：
OCEAN ENGINEERING | 2023年 / 276卷
基金：
中国国家自然科学基金;
关键词：
Autonomous underwater vehicles; Input saturation; Asymptotic convergence; Adaptive control; Non-vanishing uncertainties; TRAJECTORY TRACKING; SYSTEMS; FAULTS;
D O I：
10.1016/j.oceaneng.2023.114280
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
This article provides an adaptive asymptotic backstepping-based tracking control algorithm for autonomous underwater vehicles (AUVs) under the situation of non-vanishing uncertainties and input saturation. Firstly, the adaptive asymptotic control algorithm is developed to compensate the non-vanishing uncertainties. And then, virtual control stabilizing functions are reconstructed to improve the system performance by virtue of variable substitutions. Next, the hyperbolic tangent function is applied to handle the unknown input saturation problem. Based on the Lyapunov stability theory, the asymptotic stability of AUVs is proven. Finally, simulation results illustrate that the control strategy can effectively inhibit the effect of unknown model dynamics on the system.
引用
收藏
页数：9
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