This paper presents a robust path-following control strategy for underactuated autonomous underwater vehicles (AUVs) utilizing gradient descent fuzzy estimating in its structure. The proposed control scheme includes two control loops: the inner control that is responsible to track the velocity command signals, and the outer loop that controls the vehicle’s path-following errors. Thanks to fuzzy estimators, uncertainties, including un-modelled dynamics, water current, and lateral velocities are explicitly addressed to make the control strategy robust to them. Using Lyapunov theory, we show exponential convergence of the tracking error to a neighborhood of the origin, and boundedness of the related signals. The efficiency of the proposed control approach is confirmed through computer simulation.
Robust Path-Following Control of Underactuated Marine Vehicles Using Gradient-Descent Fuzzy Estimation
Lect. Notes Electrical Eng.
APCA International Conference on Automatic Control and Soft Computing ; 2022 ; Caparica, Portugal July 06, 2022 - July 08, 2022
02.07.2022
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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