Proceedings Article10.23919/CHICC.2017.8028114
Fuzzy-based tracking controller design for autonomous underwater vehicle
Hongjun Ban,Yang Xian,Xiaoyuan Luo,Jing Yan,Xinping Guan +4 more
- 01 Jul 2017
- pp 4813-4818
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TL;DR: T-S fuzzy-based position and head controllers, which depend on the relative state errors between the AUV and reference, are designed for AUV to achieve the trajectory tracking task.
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Abstract: Autonomous Underwater Vehicle (AUV) is referred as a promising device to extend human intelligences to harsh underwater environment. Most applications of AUV demand accurate trajectory tracking, however the nonlinear and model inaccuracy constraints on AUV make it challenging to achieve tracking task. In this paper, we are concerned with the trajectory tracking problem for AUV. The AUV is assumed to be auto navigated in surge, sway, heave and yaw. We first give the 4-DOF mathematical model of AUV. Then, the tracking control problem is formulated into T-S fuzzy framework. Based on this, T-S fuzzy-based position and head controllers, which depend on the relative state errors between the AUV and reference, are designed for AUV to achieve the trajectory tracking task. Finally, simulation results are presented to show the effectiveness of the proposed tracking controllers, wherein the influence of chattering problem can be reduced by compared with SMC-based controller.
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Citations
Polynomial regressors based data-driven control for autonomous underwater vehicles
TL;DR: In this paper, a novel point is the improvement of existing data-driven control by polynomial regressors, which improve the control performance of AUVs.
8
Velocity Observer-based Tracking Control of Autonomous Underwater Vehicle with Communication Delay
Zhiwen Guo,Xian Yang,Jin Gao,Jing Yan,Xiaoyuan Luo +4 more
- 29 May 2019
TL;DR: A model-free proportional-derivative (P+D) controller is designed to enforce the position tracking of AUV, subjected to time-varying communication delay and unmeasurable velocity.
3
UUV Trajectory Tracking Control Based on Gaussian Process Model Predictive Control
Xiaoming Yan,Liu Yang +1 more
- 10 May 2024
TL;DR: A Gaussian Process Model Predictive Control (GP-MPC) method is proposed for Unmanned Underwater Vehicle (UUV) trajectory tracking in 3D underwater environments, achieving better control with uncertain model parameters compared to traditional MPC methods.
Trajectory Tracking Controller Design for Underactuated AUVs based on Adaptive Robust Control
Tianheng Ma,Zheng Chen +1 more
- 18 Jul 2024
TL;DR: This paper proposes an adaptive robust control strategy for underactuated AUVs, combining backstepping control, to achieve accurate trajectory tracking by adaptively estimating uncertain parameters and disturbances, ensuring system stability and improved transient response.
Tracking Control for AUV by Fuzzy Controller with Extended Kalman Filter
Takahiro Yamada,Hiroshi Kinjo,Kunihiko Nakazono,Eiho Uezato,Naomasa Oshiro +4 more
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