Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer
The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed...
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2019-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/22/4987 |
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doaj-653ecc51810f4ef5b68bfe7783bb0a1b2020-11-25T02:23:49ZengMDPI AGSensors1424-82202019-11-011922498710.3390/s19224987s19224987Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance ObserverHao Xu0Guo-cheng Zhang1Jian Cao2Shuo Pang3Yu-shan Sun4Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaThe three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed based on virtual guidance method. Then, a finite-time control scheme based on super-twisting observer and command filtered backstepping technology is proposed. We adopt super-twisting observer based on finite-time theory to observe the ocean currents disturbances for improving the system robust. A command filtered backstepping is proposed to replace the differential process in the conventional backstepping method for avoiding the differential expansion problem. The filter compensation loop is designed to ensure the accuracy of the filtered signal, and the anti-integration saturation link is designed considering the influence of integral saturation. Lyapunov stability theory is used to prove the stability of the underactuated AUV. Simulation studies are conducted to show the effectiveness and robustness of the controller.https://www.mdpi.com/1424-8220/19/22/4987underactuated auv3d path followingbackstepping methodsuper-twisting observerocean currents disturbance |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Hao Xu Guo-cheng Zhang Jian Cao Shuo Pang Yu-shan Sun |
| spellingShingle |
Hao Xu Guo-cheng Zhang Jian Cao Shuo Pang Yu-shan Sun Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer Sensors underactuated auv 3d path following backstepping method super-twisting observer ocean currents disturbance |
| author_facet |
Hao Xu Guo-cheng Zhang Jian Cao Shuo Pang Yu-shan Sun |
| author_sort |
Hao Xu |
| title |
Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer |
| title_short |
Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer |
| title_full |
Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer |
| title_fullStr |
Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer |
| title_full_unstemmed |
Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer |
| title_sort |
underactuated auv nonlinear finite-time tracking control based on command filter and disturbance observer |
| publisher |
MDPI AG |
| series |
Sensors |
| issn |
1424-8220 |
| publishDate |
2019-11-01 |
| description |
The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed based on virtual guidance method. Then, a finite-time control scheme based on super-twisting observer and command filtered backstepping technology is proposed. We adopt super-twisting observer based on finite-time theory to observe the ocean currents disturbances for improving the system robust. A command filtered backstepping is proposed to replace the differential process in the conventional backstepping method for avoiding the differential expansion problem. The filter compensation loop is designed to ensure the accuracy of the filtered signal, and the anti-integration saturation link is designed considering the influence of integral saturation. Lyapunov stability theory is used to prove the stability of the underactuated AUV. Simulation studies are conducted to show the effectiveness and robustness of the controller. |
| topic |
underactuated auv 3d path following backstepping method super-twisting observer ocean currents disturbance |
| url |
https://www.mdpi.com/1424-8220/19/22/4987 |
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