The three-dimensional trajectory tracking of an underactuated autonomous underwater vehicle (AUV) under the complex unknowns including model uncertainties and time-varying disturbances is studied. The reference pitch angle and yaw angle are designed in kinematics, based on the time-varying reference trajectory. Dynamics controllers are developed by incorporating the first-order filter into the dynamic surface control (DSC), which simplifies the design process and overcome differential explosion in the traditional backstepping. To reduce the influence of the complex unknowns, an adaptive fuzzy-based DSC scheme is employed to identify the lumped disturbances with arbitrary accuracy and further enhance system robustness. Lyapunov stability analysis demonstrates that tracking errors are bounded and converge to an arbitrarily small neighbourhood of zero. Finally, simulation studies and comparisons with DSC scheme are carried out to illustrate the effectiveness and superiority of the proposed scheme.
Three-dimensional trajectory tracking of an underactuated AUV based on fuzzy dynamic surface control
IET Intelligent Transport Systems ; 14 , 5 ; 364-370
2019-11-20
7 pages
Article (Journal)
Electronic Resource
English
time-varying systems , differential explosion , time-varying reference trajectory , Lyapunov stability analysis , dynamics controllers , first-order filter , control nonlinearities , robust control , adaptive control , time-varying disturbances , design process , uncertain systems , fuzzy dynamic surface control , three-dimensional trajectory tracking , Lyapunov methods , autonomous underwater vehicles , underactuated AUV , model uncertainties , trajectory control , pitch angle , yaw angle , fuzzy control , backstepping , underactuated autonomous underwater vehicle , lumped disturbances , fuzzy-based DSC scheme , system robustness , tracking errors
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