文章基本信息

标题：3D Space Trajectory Tracking of Underactuated AUVs using Back-Stepping Control and Time Delay Estimation ⁎
本地全文：下载
作者：Gun Rae Cho ; Hyungjoo Kang ; Mun-Jik Lee 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：16
页码：238-244
DOI：10.1016/j.ifacol.2021.10.099
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a robust controller using the back-stepping approach and the time delay estimation(TDE) is proposed for the 3D space motion control of torpedo-like autonomous underwater vehicles(AUVs). Due to the lack of control inputs, the vehicle dynamics does not satisfy the matching condition and has nonlinear dynamics including rigid dynamics and hydrodynamics. By utilizing a relevant coordinate transform, it is shown that the tracking error dynamics of the vehicles can be represented as a strict-feedback form. Using the error dynamics, the back-stepping controller is designed to gain robustness against the unmatched dynamics. The nonlinear dynamics of the vehicle is compensated by using the TDE which estimates the dynamics robustly utilizing the system inputs and outputs. By combining the back-stepping scheme and the TDE, the proposed controller has robust tracking performance against model uncertainties and disturbances. Owing simplicity of the TDE, moreover, the proposed controller can be implemented without necessity of whole dynamic model of the vehicles. The simulation results using the REMUS model demonstrates the robustness of the proposed controller against the model uncertainties and disturbances.
关键词：KeywordsBack-stepping controltime delay estimationautonomous underwater vehicle(AUV)trajectory trackingrobust control