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Trajectory tracking for autonomous underwater vehicle: An adaptive approach

Authors :
J. Torres
Jesus Guerrero
Ahmed Chemori
Vincent Creuze
Departamento de Control Automático (CINVESTAV-IPN)
Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN)
Image & Interaction (ICAR)
Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM)
Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Conception et commande de robots pour la manipulation (DEXTER)
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.

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