Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation

doi:10.1007/s12204-020-2195-y

Journal of Shanghai Jiao Tong University(Science) ›› 2020, Vol. 25 ›› Issue (4): 470-477.doi: 10.1007/s12204-020-2195-y

Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation

HUANG Hantao (黄汉涛), ZHOU Jingye (周竞烨), DI Qing (邸青), ZHOU Jiawei (周家炜), LI Jiawang (李家旺)

(Faculty of Maritime and Transportation, Ningbo University, Ningbo 315211, Zhejiang, China)

出版日期:2020-08-28 发布日期:2020-07-29
通讯作者: LI Jiawang (李家旺) E-mail: lijiawang@nbu.edu.cn

Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation

HUANG Hantao (黄汉涛), ZHOU Jingye (周竞烨), DI Qing (邸青), ZHOU Jiawei (周家炜), LI Jiawang (李家旺)

(Faculty of Maritime and Transportation, Ningbo University, Ningbo 315211, Zhejiang, China)

Online:2020-08-28 Published:2020-07-29
Contact: LI Jiawang (李家旺) E-mail: lijiawang@nbu.edu.cn

摘要/Abstract

摘要： This paper addresses a three-dimensional (3D) trajectory tracking problem of underactuated autonomous
underwater vehicles (AUVs) subjected to input saturation and external disturbances. The proposed
controller can achieve practical convergence of tracking errors for general reference trajectories, including persistently
exciting (PE) time varying trajectories and fixed points. At first, a modified error state formulation
is introduced to tackle the situation that desired velocities do not satisfy PE condition. Then, on the basis of
the backstepping technique and a Nussbaum-type even function, a saturated controller is designed so that the
tracking errors can converge to a bounded neighborhood of the origin. The stability analysis based on Lyapunov
theory shows that the tracking errors are globally ultimately uniformly bounded. Finally, some simulation results
illustrate the effectiveness and robustness of the proposed control strategy.

关键词: underactuated autonomous underwater vehicles (AUVs), trajectory tracking control, stabilization
control, input saturation, Nussbaum-type function

Abstract: This paper addresses a three-dimensional (3D) trajectory tracking problem of underactuated autonomous
underwater vehicles (AUVs) subjected to input saturation and external disturbances. The proposed
controller can achieve practical convergence of tracking errors for general reference trajectories, including persistently
exciting (PE) time varying trajectories and fixed points. At first, a modified error state formulation
is introduced to tackle the situation that desired velocities do not satisfy PE condition. Then, on the basis of
the backstepping technique and a Nussbaum-type even function, a saturated controller is designed so that the
tracking errors can converge to a bounded neighborhood of the origin. The stability analysis based on Lyapunov
theory shows that the tracking errors are globally ultimately uniformly bounded. Finally, some simulation results
illustrate the effectiveness and robustness of the proposed control strategy.

Key words: underactuated autonomous underwater vehicles (AUVs), trajectory tracking control, stabilization
control, input saturation, Nussbaum-type function

中图分类号:

TP 242

HUANG Hantao, ZHOU Jingye, DI Qing, ZHOU Jiawei, LI Jiawang . Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation[J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(4): 470-477.

HUANG Hantao, ZHOU Jingye, DI Qing, ZHOU Jiawei , LI Jiawang . Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation[J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(4): 470-477.

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Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation

Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation

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