Robust fuzzy 3D path following for autonomous underwater vehicle subject to uncertainties

This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and external uncertainties. A two-layered framework synthesizing the 3D guidance law and heuristic fuzzy control is proposed to achieve robust a...

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Vydáno v:	Computers & operations research Ročník 84; s. 165 - 177
Hlavní autoři:	Xiang, Xianbo, Yu, Caoyang, Zhang, Qin
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York Elsevier Ltd 01.08.2017 Pergamon Press Inc
Témata:	3D guidance Accuracy Adaptive algorithms Adaptive control Autonomous underwater vehicle (AUV) Autonomous underwater vehicles Computer simulation Control stability Control systems Disturbances Dynamical systems Environment models Feedback Feedback linearization Fuzzy control Guidance (motion) Heuristic Heuristic methods Kinematics Mathematical models Nonlinear dynamics Operations research Path following Proportional integral derivative Robust fuzzy control Robustness (mathematics) Autonomous underwater vehicle (AUV) 3D guidance Robust fuzzy control Path following
ISSN:	0305-0548, 1873-765X, 0305-0548
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Abstract	This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and external uncertainties. A two-layered framework synthesizing the 3D guidance law and heuristic fuzzy control is proposed to achieve robust adaptive following along a predefined path. In the first layer, a 3D guidance controller for underactuated AUV is presented to guarantee the stability of path following in the kinematics stage. In the second layer, a heuristic adaptive fuzzy algorithm based on the guidance command and feedback linearization Proportional-Integral-Derivative (PID) controller is developed in the dynamics stage to account for the nonlinear dynamics and system uncertainties, including inaccuracy modelling parameters and time-varying environmental disturbances. Furthermore, the sensitivity analysis of the heuristic fuzzy controller is presented. Against most existing methods for 3D path following, the proposed robust fuzzy control scheme reduces the design and implementation costs of complicated dynamics controller, and relaxes the knowledge of the accuracy dynamics modelling and environmental disturbances. Finally, numerical simulation results validate the effectiveness of the proposed control framework and illustrate the outperformance of the proposed controller as well. •A two-layered framework synthesizing the guidance and control is proposed for 3D AUV path following.•Robust and heuristic fuzzy path following algorithm is adopted to account for the system uncertainties.•Proposed control scheme reduces the design and implementation cost with regard to most existing methods.•Case study and quantitative comparison explicitly show the effectiveness of the proposed framework.
AbstractList	This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and external uncertainties. A two-layered framework synthesizing the 3D guidance law and heuristic fuzzy control is proposed to achieve robust adaptive following along a predefined path. in the first layer, a 3D guidance controller for underactuated AUV is presented to guarantee the stability of path following in the kinematics stage. In the second layer, a heuristic adaptive fuzzy algorithm based on the guidance command and feedback linearization Proportional-Integral-Derivative (ND) controller is developed in the dynamics stage to account for the nonlinear dynamics and system uncertainties, including inaccuracy modelling parameters and time- varying environmental disturbances. Furthermore, the sensitivity analysis of the heuristic fuzzy controller is presented. Against most existing methods for 3D path following, the proposed robust fuzzy control scheme reduces the design and implementation costs of complicated dynamics controller, and relaxes the knowledge of the accuracy dynamics modelling and environmental disturbances. Finally, numerical simulation results validate the effectiveness of the proposed control framework and illustrate the outperformance of the proposed controller as well. This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and external uncertainties. A two-layered framework synthesizing the 3D guidance law and heuristic fuzzy control is proposed to achieve robust adaptive following along a predefined path. In the first layer, a 3D guidance controller for underactuated AUV is presented to guarantee the stability of path following in the kinematics stage. In the second layer, a heuristic adaptive fuzzy algorithm based on the guidance command and feedback linearization Proportional-Integral-Derivative (PID) controller is developed in the dynamics stage to account for the nonlinear dynamics and system uncertainties, including inaccuracy modelling parameters and time-varying environmental disturbances. Furthermore, the sensitivity analysis of the heuristic fuzzy controller is presented. Against most existing methods for 3D path following, the proposed robust fuzzy control scheme reduces the design and implementation costs of complicated dynamics controller, and relaxes the knowledge of the accuracy dynamics modelling and environmental disturbances. Finally, numerical simulation results validate the effectiveness of the proposed control framework and illustrate the outperformance of the proposed controller as well. •A two-layered framework synthesizing the guidance and control is proposed for 3D AUV path following.•Robust and heuristic fuzzy path following algorithm is adopted to account for the system uncertainties.•Proposed control scheme reduces the design and implementation cost with regard to most existing methods.•Case study and quantitative comparison explicitly show the effectiveness of the proposed framework.
Author	Yu, Caoyang Xiang, Xianbo Zhang, Qin
Author_xml	– sequence: 1 givenname: Xianbo orcidid: 0000-0002-6215-9864 surname: Xiang fullname: Xiang, Xianbo email: xbxiang@hust.edu.cn organization: School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 1037, Luoyu Road, 430074 Wuhan, China – sequence: 2 givenname: Caoyang surname: Yu fullname: Yu, Caoyang organization: School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 1037, Luoyu Road, 430074 Wuhan, China – sequence: 3 givenname: Qin surname: Zhang fullname: Zhang, Qin organization: State Key Lab of Digital Manufacturing, Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China
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Snippet	This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and...
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SubjectTerms	3D guidance Accuracy Adaptive algorithms Adaptive control Autonomous underwater vehicle (AUV) Autonomous underwater vehicles Computer simulation Control stability Control systems Disturbances Dynamical systems Environment models Feedback Feedback linearization Fuzzy control Guidance (motion) Heuristic Heuristic methods Kinematics Mathematical models Nonlinear dynamics Operations research Path following Proportional integral derivative Robust fuzzy control Robustness (mathematics)
Title	Robust fuzzy 3D path following for autonomous underwater vehicle subject to uncertainties
URI	https://dx.doi.org/10.1016/j.cor.2016.09.017 https://www.proquest.com/docview/1912954934
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