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Trajectory tracking for autonomous underwater vehicle: An adaptive approach
- Source :
- Ocean Engineering, Ocean Engineering, Elsevier, 2019, 172, pp.511-522. ⟨10.1016/j.oceaneng.2018.12.027⟩
- Publication Year :
- 2019
- Publisher :
- Elsevier BV, 2019.
-
Abstract
- International audience; During sea missions, underwater vehicles are exposed to changes in the parameters of the system and subject to persistent external disturbances due to the ocean current influence. These issues make the design of a robust controller a quite challenging task. This paper focuses on the design of a adaptive high order sliding mode control for trajectory tracking on an underwater vehicle. The main feature of the developed control law is that it preserves the advantages of robust control, it does not need the knowledge of the upper bound of the disturbance and easy tuning in real applications. Using Lyapunov concept, asymptotic stability of the closed-loop tracking system is ensured. The effectiveness and robustness of the proposed controller for trajectory tracking in depth and yaw dynamics are demonstrated through real-time experiments.
- Subjects :
- Lyapunov function
Environmental Engineering
Adaptive control
Sliding mode control
Computer science
020101 civil engineering
Ocean Engineering
02 engineering and technology
01 natural sciences
[SPI.AUTO]Engineering Sciences [physics]/Automatic
010305 fluids & plasmas
0201 civil engineering
symbols.namesake
Control theory
Robustness (computer science)
0103 physical sciences
business.industry
Tracking system
symbols
Trajectory
Underwater vehicles
Real-time experiments
Robust control
business
Subjects
Details
- ISSN :
- 00298018
- Volume :
- 172
- Database :
- OpenAIRE
- Journal :
- Ocean Engineering
- Accession number :
- edsair.doi.dedup.....a037b1dc3f75ac205daec0b339b77c2c
- Full Text :
- https://doi.org/10.1016/j.oceaneng.2018.12.027