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

doi:10.1007/s12204-020-2195-y

Abstract

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

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

CLC Number:

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.

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