Position Tracking Control of Autonomous Underwater Vehicles in the Disturbance of Unknown Ocean Currents

doi:10.3969/j.issn.1000-1093.2019.03.018

Abstract

Abstract: An adaptive nonlinear robust position tracking controller was designed by using the backstepping control technique based on Lyapunov stability theory， which is used for the position tracking of a new class of underactuated underwater vehicles (AUVs) with the parameter uncertainties under the external disturbances of ocean currents in the horizontal plane. The adaptive control technique is used to compensate the uncertainties of underwater vehicle. And the adaptive fuzzy control scheme is proposed to optimize the sliding mode items in the controller. An ocean current observer is presented based on the backstepping method to estimate the unknown time-varing ocean currents. The stability of AUV systems including position tracking controller and current observer was demonstrated based on the Lyapunov stability theory. The simulated results verified the effectiveness and robustness of the proposed nonlinear controller through a new class of flying-wing autonomous underwater vehicles. Key

Key words: autonomousunderwatervehicle, positiontracking, backsteppingtechnique, parameteruncertainty, oceancurrentobserver

CLC Number:

TP273⁺.4

WANG Jinqiang， WANG Cong， WEI Yingjie， ZHANG Chengju. Position Tracking Control of Autonomous Underwater Vehicles in the Disturbance of Unknown Ocean Currents[J]. Acta Armamentarii, 2019, 40(3): 583-591.

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第40卷
第3期2019 年3月兵工学报ACTA
ARMAMENTARIIVol.40No.3Mar.2019

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