Switched Three-Dimensional Decoupling Stabilization of
Underactuated Autonomous Underwater Vehicles

doi:10.1007/s12204-022-2446-1

Abstract

Abstract: A three-dimensional stabilization problem for underactuated autonomous underwater vehicles (AUVs) is addressed in this paper. A novel coordinate transformation form consisting of state modifications and input transformations is introduced such that the whole system is divided into two decoupled one-order subsystems. Some switching functions are presented to further decouple the underactuated dynamics and to produce persis tently exciting (PE) signals for those underactuated states. Based on the aforementioned results, a quite simple control law is designed to achieve global three-dimensional asymptotic convergence of all states of underactuated AUVs. Comparative simulations are carried out to validate the effectiveness and performance of the proposed control scheme.

Key words: autonomous underwater vehicle (AUV), underactuated systems, three-dimensional stabilization, switching function

CLC Number:

TP 242

FANG Haolin (房浩霖), ZHANG Jiawen (张家闻), LI Jiawang∗ (李家旺). Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles[J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 383-392.

References 21

[1]	FOSSEN T I. Handbook of marine craft hydrodynamics and motion control [M]. Chichester: John Wiley & Sons, Ltd, 2011.
[2]	BROCKETT R W. Differential geometric control theory [M]. Boston, MA: Birkh?user, 1983.
[3]	PETTERSEN K Y, EGELAND O. Exponential stabilization of an underactuated surface vessel [J]. Modeling, Identification and Control: A Norwegian Research Bulletin, 1997, 18(3): 239-248.
[4]	MAZENC F, PETTERSEN K, NIJMEIJER H. Global uniform asymptotic stabilization of an underactuated surface vessel [J]. IEEE Transactions on Automatic Control, 2002, 47(10): 1759-1762.
[5]	DONG W J, GUO Y. Global time-varying stabilization of underactuated surface vessel [J]. IEEE Transactions on Automatic Control, 2005, 50(6): 859-864.
[6]	MA B L. Global κ-exponential asymptotic stabilization of underactuated surface vessels [J]. Systems & Control Letters, 2009, 58(3): 194-201.
[7]	XIE W J, MA B L, FERNANDO T, et al. A simple robust control for global asymptotic position stabilization of underactuated surface vessels [J]. International Journal of Robust and Nonlinear Control, 2017, 27(18): 5028-5043.
[8]	DI Q, ZHOU J Y, F ANG K, et al. Global stabilization of underactuated asymmetric AUVs with unknown model parameters [J]. Acta Armamentarii, 2020, 41(5): 950-957 (in Chinese).
[9]	AGUIAR A P, HESPANHA J P, PASCOAL A M. Switched seesaw control for the stabilization of underactuated vehicles [J]. Automatica, 2007, 43(12): 19972008.
[10]	PANAGOU D, KYRIAKOPOULOS K J. Dynamic positioning for an underactuated marine vehicle using hybrid control [J]. International Journal of Control, 2014, 87(2): 264-280.
[11]	DONG Z P, W AN L, LI Y M, et al. Point stabilization for an underactuated AUV in the presence of ocean currents [J]. International Journal of Advanced Robotic Systems, 2015, 12(7): 100.
[12]	LIN X G, NIE J, JIAO Y Z, et al. Adaptive fuzzy output feedback stabilization control for the underactuated surface vessel [J]. Applied Ocean Research, 2018, 74: 40-48.
[13]	PETTERSEN K Y, EGELAND O. Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle [J]. IEEE Transactions on Automatic Control, 1999, 44(1): 112-115.
[14]	WU Q, LI Y. Stabilization design of underactuated AUV based on quaternion [J]. CAAI Transactions on Intelligent Systems, 2014, 9(2): 186-191 (in Chinese).
[15]	LI H P, YAN W S. Model predictive stabilization of constrained underactuated autonomous underwater vehicles with guaranteed feasibility and stability [J]. IEEE/ASME Transactions on Mechatronics, 2017, 22(3): 1185-1194.
[16]	LI Y M, LI Y, WU Q. Design for three-dimensional stabilization control of underactuated autonomous underwater vehicles [J]. Ocean Engineering, 2018, 150: 327-336.
[17]	NIU H J, GENG Z Y. Stabilisation of a relative equilibrium of an underactuated AUV on SE(3) [J]. International Journal of Control, 2019, 92(8): 1883-1902.
[18]	NIU H J, GENG Z Y. Stabilization of a relative equilibrium for an underactuated AUV with disturbances rejection [J]. IEEE Access, 2019, 7: 5834-5845.
[19]	HUANG H T, ZHOU J Y, DI Q, et al. Threedimensional trajectory tracking control of underactuated autonomous underwater vehicles with input saturation [J]. Journal of Shanghai Jiao Tong University (Science), 2020, 25(4): 470-477.
[20]	F ANG K, F ANG H L, ZHANG J W, et al. Neural adaptive output feedback tracking control of underactuated AUVs [J]. Ocean Engineering, 2021, 234: 109211.
[21]	BHAT S P, BERNSTEIN D S. Continuous finite-time stabilization of the translational and rotational double integrators [J]. IEEE Transactions on Automatic Control, 1998, 43(5): 678-682.

Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References 21

Related Articles 15

Recommended Articles 0

Metrics

Comments

[1]	HUA Penga (华鹏)， SHU Xiongpenga (舒雄鹏)，XIE Lea,b* (谢叻). Hysteresis Modeling and Compensation for Distal Shaft Deflection of Flexible Ureteroscope [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(4): 507-.
[2]	LI Dingjia1,2,3,4(黎定佳)，WANG Chongang1,2,3(王重阳)，GUO Wei5(郭伟)，WANG Zhidong6(王志东)，ZHANG Zhongtao5(张忠涛)，LIU Hao1,2,3*(刘浩). Shape Sensing for Single-Port Continuum Surgical Robot Using Few Multicore Fiber Bragg Grating Sensors [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 312-322.
[3]	LI Guozhia a(李国志)，ZOU Shuizhong b*(邹水中),DING Shuacue a(丁数学). Visual Positioning of Nasal Swab Robot Based on Hierarchical Decision [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 323-329.
[4]	LI Jian1 (李坚)，WANG Xingchao1 (王星超)，ZHONG Min2 (钟敏)，ZHENG Jian2(郑剑)，SUN Zhenglong1*(孙正隆). Real-Time Slice-to-Volume Registration-Based Autonomous Navigation for Robot-Assisted Thyroid Biopsy [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 330-338.
[5]	ZHANG Kaibo1(张凯波)，CHEN Li1*(陈丽)，DONG Qi2(董琦). Input-Constrained Hybrid Control of a Hyper-Redundant Mobile Medical Manipulator [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 348-359.
[6]	GAO Hongyan1, 2(高红岩), AI Xiaojie1, 2(艾孝杰), SUN Zhenglong3(孙正隆), CHEN Weidong1, 2(陈卫东), GAO Anzhu1, 2(高安柱). Progress in Force-Sensing Techniques for Surgical Robots [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 370-381.
[7]	ZHAO Lingling1*(赵玲玲),GUO Yao2(郭遥). Development of Rehabilitation and Assistive Robots in China: Dilemmas and Solutions [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 382-390.
[8]	CHEN Weichi(陈韦池), LIU Haocheng(刘浩城), LI Zijian(李子建), GUO Jing, (郭靖), ZHAI Zhenkun(翟振坤), MENG Wei(孟伟). Novel Concentric Tube Robot Based on Double-Threaded Helical Gear Tube [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 296-306.
[9]	LI Linlin (李林霖), GAO Feiyang (高飞扬), ZHENG Xiongfei(郑雄飞), ZHANG Liming(张黎明), LI Shijie (李世杰), WANG Heran(王赫然). Enhancement of Pinching Grasping Robustness Using a Multi-Structure Soft Gripper [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 307-311.
[10]	XU Ziwei (徐子薇), XIE Le (谢叻). Cable-Driven Flexible Exoskeleton Robot for Abnormal Gait Rehabilitation [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(2): 231-239.
[11]	WANG Zheng (王正), XU Hui (许辉), L v Na (吕娜), TAO Wei∗ (陶卫), CHEN Guodong (陈国栋), CHI Wenzheng (迟文正), SUN Lining (孙立宁). Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 24-35.
[12]	YAN Minpeng (严旻芃), CHAI Gang ∗ (柴岗), XIE Le ∗ (谢叻). Depth Camera-Based Robot-Assisted Ultrasonic Lipolysis System [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 36-44.
[13]	LI Dong (李栋), FAN Yulin (樊钰琳), L v Na (吕娜), CHEN Guodong∗ (陈国栋), WANG Zheng (王正), CHI Wenzheng (迟文政). Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 45-54.
[14]	DAI Qianlin (代倩琳), XU Mengqiao (徐梦乔), SUN Xiaodong (孙晓东), XIE Le∗ (谢叻). Eye Robotic System for Vitreoretinal Surgery [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 1-6.
[15]	CHEN Ziyun (陈子云), XIE Le (谢叻), DAI Peidong (戴培东), ZHANG Tianyu (张天宇). Development of a Robotic Cochlear Implantation System [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 7-14.