This article addresses the tracking control problem of 3-D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. More specifically, a robust nonlinear model predictive control (NMPC) scheme is presented for the case of underactuated autonomous underwater vehicles (AUVs) (i.e., unicycle-like vehicles actuated only in the surge, heave, and yaw). The purpose of the controller is to steer the unicycle-like AUV to the desired trajectory with guaranteed input and state constraints (e.g., obstacles, predefined vehicle velocity bounds, and thruster saturations) inside a partially known and dynamic environment where the knowledge of the operating workspace is constantly updated via the vehicle's onboard sensors. In particular, considering the sensing range of the vehicle, obstacle avoidance with any of the detected obstacles is guaranteed by the online generation of a collision-free trajectory tracking path, despite the model dynamic uncertainties and the presence of external disturbances representing ocean currents and waves. Finally, realistic simulation studies verify the performance and efficiency of the proposed framework. Note to Practitioners-This article was motivated by the problem of robust trajectory tracking for an autonomous underwater vehicle (AUV) operating in an uncertain environment where the knowledge of the operating workspace (e.g., obstacle positions) is constantly updated online via the vehicle's onboard sensors (e.g., multibeam imaging sonars and laser-based vision systems). In addition, there may be other system limitations (e.g., thruster saturation limits) and other operational constraints, induced by the need of various common underwater tasks (e.g., a predefined vehicle speed limit for inspecting the seabed, and mosaicking), where it should also be considered into the control strategy. However, based on the existing trajectory tracking control approaches for underwater robotics, there is a lack of an autonomous control scheme that ...
Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments
2021-01-01
Scopus 2-s2.0-85112698709
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Vehicle dynamics , Trajectory , Trajectory tracking , Uncertainty , Oceans , Robot sensing systems , Marine navigation , predictive control , robust control , uncertain systems , unmanned autonomous vehicles , unmanned underwater vehicles , Control Engineering , Reglerteknik , Robotics , Robotteknik och automation
DDC: | 629 |
BASE | 2020
|Robust trajectory tracking control for underactuated autonomous underwater vehicles
BASE | 2019
|Trajectory-tracking Control of Underactuated Underwater Vehicles
Springer Verlag | 2009
|Robust and adaptive path following for underactuated autonomous underwater vehicles
Tema Archiv | 2004
|Robust Trajectory Tracking Control of Underactuated Surface Vehicles with Prescribed Performance
Online Contents | 2020
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