access icon free Three-dimensional trajectory tracking of an underactuated AUV based on fuzzy dynamic surface control

© The Institution of Engineering and Technology
Received 03/06/2019, Accepted 25/09/2019, Revised 13/08/2019, Published 11/10/2019

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.

Inspec keywords: control nonlinearities; robust control; uncertain systems; Lyapunov methods; fuzzy control; adaptive control; trajectory control; autonomous underwater vehicles; time-varying systems

Other keywords: three-dimensional trajectory tracking; first-order filter; fuzzy-based DSC scheme; tracking errors; lumped disturbances; pitch angle; dynamics controllers; time-varying reference trajectory; design process; backstepping; underactuated AUV; underactuated autonomous underwater vehicle; fuzzy dynamic surface control; system robustness; Lyapunov stability analysis; time-varying disturbances; model uncertainties; yaw angle; differential explosion

Subjects: Marine system control; Nonlinear control systems; Self-adjusting control systems; Spatial variables control; Fuzzy control; Stability in control theory; Mobile robots; Time-varying control systems

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