Robust trajectory tracking and control allocation of X-rudder AUV with actuator uncertainty
This paper proposes a robust trajectory tracking control method for an X-rudder autonomous underwater vehicle subject to imprecise model parameters, unknown disturbances, and actuator uncertainty. The control scheme consists of a kinematics controller, dynamics controller, and rudder allocator const...
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| Veröffentlicht in: | Control engineering practice Jg. 136; S. 105535 |
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| Format: | Journal Article |
| Sprache: | Englisch |
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01.07.2023
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| ISSN: | 0967-0661, 1873-6939 |
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| Abstract | This paper proposes a robust trajectory tracking control method for an X-rudder autonomous underwater vehicle subject to imprecise model parameters, unknown disturbances, and actuator uncertainty. The control scheme consists of a kinematics controller, dynamics controller, and rudder allocator constructed using backstepping techniques. The kinematics controller employs a line-of-sight guidance law, while the dynamics controller uses integral sliding mode and a Radial Basis Function Neural Network to handle modeling errors and unknown disturbances. Finally, a Recursive Least Square Control Allocation method is developed to minimize the allocation error considering the uncertainty in the control effectiveness matrix by solving a dual second-order cone programming problem. Simulation results demonstrate that the RBFNN-based trajectory tracking method achieves satisfactory performance in the presence of time-varying environmental disturbances, and the Recursive Least Square Control Allocation method effectively deals with actuator uncertainty.
•A RBFNN-based trajectory tracking controller is proposed to better approximate the dynamics uncertainties and disturbances.•A method of Recursive Least Squares Control Allocation is proposed to minimize the errors in the X-rudder AUV control.•The cascaded tracking controller is practical and feasible for AUVs as it does not depend on accurate model information. |
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| AbstractList | This paper proposes a robust trajectory tracking control method for an X-rudder autonomous underwater vehicle subject to imprecise model parameters, unknown disturbances, and actuator uncertainty. The control scheme consists of a kinematics controller, dynamics controller, and rudder allocator constructed using backstepping techniques. The kinematics controller employs a line-of-sight guidance law, while the dynamics controller uses integral sliding mode and a Radial Basis Function Neural Network to handle modeling errors and unknown disturbances. Finally, a Recursive Least Square Control Allocation method is developed to minimize the allocation error considering the uncertainty in the control effectiveness matrix by solving a dual second-order cone programming problem. Simulation results demonstrate that the RBFNN-based trajectory tracking method achieves satisfactory performance in the presence of time-varying environmental disturbances, and the Recursive Least Square Control Allocation method effectively deals with actuator uncertainty.
•A RBFNN-based trajectory tracking controller is proposed to better approximate the dynamics uncertainties and disturbances.•A method of Recursive Least Squares Control Allocation is proposed to minimize the errors in the X-rudder AUV control.•The cascaded tracking controller is practical and feasible for AUVs as it does not depend on accurate model information. |
| ArticleNumber | 105535 |
| Author | Xu, Guohua Wen, Tao He, Xiao Wang, Wenjin |
| Author_xml | – sequence: 1 givenname: Wenjin orcidid: 0000-0003-3942-5308 surname: Wang fullname: Wang, Wenjin email: wenjinwang@tsinghua.edu.cn organization: Department of Automation, Tsinghua University, Beijing, 100084, China – sequence: 2 givenname: Tao surname: Wen fullname: Wen, Tao email: wentao@bjtu.edu.cn organization: School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, 100044, China – sequence: 3 givenname: Xiao surname: He fullname: He, Xiao email: hexiao@tsinghua.edu.cn organization: Department of Automation, Tsinghua University, Beijing, 100084, China – sequence: 4 givenname: Guohua surname: Xu fullname: Xu, Guohua email: hustxu@vip.sina.com organization: School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, 430074, Hubei, China |
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| Keywords | Trajectory tracking Neural network X-rudder Autonomous underwater vehicle Control allocation |
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| SubjectTerms | Autonomous underwater vehicle Control allocation Neural network Trajectory tracking X-rudder |
| Title | Robust trajectory tracking and control allocation of X-rudder AUV with actuator uncertainty |
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