期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 26, 期 2, 页码 897-907出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3012502
关键词
Robustness; Underwater vehicles; Real-time systems; Vehicle dynamics; Underwater autonomous vehicles; Adaptive control; Convergence; Finite-time convergence; real-time experiments; robust adaptive control (RAC); stability analysis; underwater vehicle
类别
资金
- Petroleum Technology Development Fund, PTDF, Nigeria
The article introduces a robust adaptive control scheme for trajectory tracking of autonomous underwater vehicles, addressing the challenges in control system design for marine environments. Real-time experiments demonstrate the effectiveness of the proposed approach and comparative analysis with recent control schemes validates its interest for marine applications.
The unpredictable nature of the marine environment, combined with nonlinear dynamics and parameter uncertainty of underwater vehicles makes the control system design for such vehicles a challenging task. Based on these issues, hybridizing robustness and adaptation in the control system could result in more successful marine missions. This article proposes a robust adaptive control (RAC) scheme for trajectory tracking of an autonomous underwater vehicle. The proposed RAC scheme has been developed by exploiting the advantages of a robust sliding mode controller and an adaptation law. Lyapunov arguments are proposed to prove the exponential stability and finite-time convergence of the resulting closed-loop dynamics tracking error to an invariant set, S (very close to zero). Scenarios-based real-time experiments are conducted with the Leonard ROV prototype to demonstrate the effectiveness of the proposed RAC approach. The control design performance indices (root mean square error, integral absolute error, and integral square error) and a comparative analysis with a recent control scheme from the literature confirm the interest of the proposed RAC scheme for marine applications.
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