Open AccessSimple adaptive trajectory tracking control of underactuated autonomous underwater vehicles under LOS range and angle constraints
Author(s) -
Li Jian,
Du Jialu,
Zhu Guibing,
Lewis Frank L.
Publication year - 2020
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.6356
Subject(s) - control theory (sociology) , trajectory , underactuation , tracking (education) , range (aeronautics) , computer science , tracking error , parametric statistics , constraint (computer aided design) , adaptive control , vehicle dynamics , mathematics , engineering , control (management) , artificial intelligence , statistics , geometry , automotive engineering , psychology , pedagogy , physics , astronomy , aerospace engineering
In this study, the authors propose a simple adaptive trajectory tracking control scheme for underactuated autonomous underwater vehicles (AUVs) subject to unknown dynamic parameters and disturbances under asymmetric time‐varying line‐of‐sight (LOS) range and angle constraints. A simple error mapping function is constructed to transform the LOS range and angle constraint problems of AUVs trajectory tracking into the problem of the boundedness of transform variable, such that any constraint boundaries of LOS range and angle can be handled. The compounded uncertain item caused by the unknown dynamic parameters and disturbances is transformed into a linear parametric form with only three unknown parameters called virtual parameters. Based on the above, a simple adaptive trajectory tracking control law is developed using dynamic surface control technique, where the adaptive laws online provide the estimations of virtual parameters. As a result, the proposed trajectory tracking control scheme is simple to compute and easy to implement in engineering applications. Strict stability analysis indicates that the designed control law makes AUVs track the desired trajectory within the LOS range and angle constraints and guarantees the boundedness of all signals of the closed‐loop control system. Simulation results and comparison verify the effectiveness of the designed control scheme.