Adaptive nonlinear control of an autonomous underwater vehicle

被引:47
|
作者
Tabataba'i-Nasab, Fahimeh S. [1 ]
Khalaji, Ali Keymasi [2 ]
Moosavian, Seyed Ali A. [1 ]
机构
[1] KN Toosi Univ Technol, Dept Mech Engn, Sadra St, Tehran 1939543344, Iran
[2] Kharazmi Univ, Fac Engn, Dept Mech Engn, Tehran, Iran
关键词
Autonomous underwater vehicle (AUV); adaptive control; robust control; trajectory tracking; obstacle avoidance; SLIDING MODE CONTROL; TRAJECTORY TRACKING;
D O I
10.1177/0142331218823869
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Autonomous underwater vehicles (AUVs) are highly nonlinear underactuated systems with uncertain dynamics and a challenging control problem. The main focus of this paper is to present a control law that shows desirable performance in the presence of modeling uncertainties. In this study, uncertainties are considered to be bounded and the AUV mathematical model is obtained in the presence of such uncertainties. Forces and torques applied to the AUV are also designed using a nonlinear dynamic controller. Appropriate adaptive rules are also presented to overcome system uncertainties and external disturbances. The adaptive nonlinear dynamic controller is designed based on upper bounds of system uncertainties and its stability is proven using the Lyapunov theory. In this article, the performance of the proposed control algorithm for tracking reference trajectories in an obstacle-rich environment is investigated. Therefore, the control algorithm is combined with potential fields for obstacle avoidance. Obtained results show the efficiency of the proposed controller.
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页码:3121 / 3131
页数:11
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