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On the fuzzy-adaptive command filtered backstepping control of an underactuated autonomous underwater vehicle in the three-dimensional space

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Abstract

This paper studies the three-dimensional path following control problem for an underactuated autonomous underwater vehicle in the presence of parameter uncertainties and external disturbances. Firstly, an appropriate model for the error dynamics was established to solve the path following problem in a moving Serret-Frenet frame. Secondly, an adaptive robust control scheme is proposed through fuzzy logic theory, command filtered backstepping method and an adaptation mechanism. Finally, a suitable Lyapunov candidate function is utilized to verify the stability of the overall control system and demonstrate uniform ultimate boundedness of path following errors. Following novelties are highlighted in this study: (i) The fuzzy method is adopted to solve the problems of model uncertainties, which makes the controller more practical; (ii) to calculate the virtual control derivative, a second-order filter is designed. This reduces the computational effort of the standard backstepping technique. Moreover, the effect of high frequency measurement noise is considerably attenuated via an appropriate filter to attain a more robust control system. (iii) To attain a desired approximation accuracy between the virtual control and the filtered signals, a compensation loop containing the filtered error is established. (iv) An anti-windup design is proposed to solve the problem of integral saturation in control input signals. Finally, comparative simulations are performed to ensure that the presented control scheme has excellent following accuracy and good robustness under multiple uncertainties and external disturbances.

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Acknowledgment

The authors acknowledge support by the National Natural Science Foundation of China (NSFC, Grant Nos. 11672094).

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Authors and Affiliations

  1. School of Astronautics, Harbin Institute of Technology, Harbin, 150001, China

    JinQiang Wang, Cong Wang, YingJie Wei & ChengJu Zhang

Authors
  1. JinQiang Wang
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  2. Cong Wang
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  4. ChengJu Zhang
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Corresponding author

Correspondence to Cong Wang.

Additional information

Recommended by Associate Editor Baek-Kyu Cho

JinQiang Wang was born in Harbin, Heilongjiang Province, China. He received the B.E. degree in naval architecture and ocean engineering from the School of Shipbuilding Engineering, Harbin Engineering University, Harbin, China, in 2016. He is now pursuing his Ph.D. degree in astronautics at Harbin Institute of Technology. His current research interests include guidance and the motion control of autonomous underwater vehicles.

Cong Wang received his Ph.D. degree in mechanics from Harbin Institute of Technology, Harbin, China, in 2001. He received his Bachelor and Master degrees in mechanical and electrical engineering from Northeast Forestry University in 1989 and 1993, respectively. He is currently a Professor at School of Astronautics, Harbin Institute of Technology, China. His current research interests include fluid mechanics and the motion control of underwater vehicles.

YingJie Wei received his Ph.D. degree in mechanics from Harbin Institute of Technology, Harbin, China, in 2003. He received his bachelor and master degrees in oil and gas field development from the Northeast Petroleum University in 1996 and 2000, respectively. He is currently a Professor at School of Astronautics, Harbin Institute of Technology, China. His current research interests include multiphase fluid mechanics and hydrodynamics of the underwater vehicles.

ChengJu Zhang received the B.E. degree in naval architecture and ocean engineering from the School of Ship-building Engineering, Harbin Engineering University, Harbin, China, in 2017. He is now pursuing his Ph.D. degree in astronautics at Harbin Institute of Technology. His current research interests include the motion control of marine surface vehicles.

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Wang, J., Wang, C., Wei, Y. et al. On the fuzzy-adaptive command filtered backstepping control of an underactuated autonomous underwater vehicle in the three-dimensional space. J Mech Sci Technol 33, 2903–2914 (2019). https://doi.org/10.1007/s12206-019-0538-0

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  • DOI: https://doi.org/10.1007/s12206-019-0538-0

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