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

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Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles

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