Adaptive region tracking control with prescribed transient performance for autonomous underwater vehicle with thruster fault

Abstract This paper investigates the problem of region tracking control with prescribed transient performance for autonomous underwater vehicles (AUVs) in presence of ocean current and thruster fault. An adaptive region tracking control scheme with prescribed transient performance is proposed. On the basis of prescribed performance control concept, the proposed control scheme transforms the tracking error into a virtual error by combining with a prescribed performance function. And then the control law is derived by constructing a type piecewise and smooth Lyapunov function in the framework of backstepping technique. Moreover, the compensation of ocean current, modelling uncertainty and thruster fault is achieved by estimating the bound of the general uncertainty term and the variation of the thruster distribution matrixes. Finally, the proposed region tracking control scheme is applied on ODIN AUV, and the simulation results verify the effectiveness of the proposed method.

[1]  Juan Pablo Julca Avila,et al.  Controlling tracking trajectory of a robotic vehicle for inspection of underwater structures , 2018 .

[2]  Gaurav S. Sukhatme,et al.  Data-driven robotic sampling for marine ecosystem monitoring , 2015, Int. J. Robotics Res..

[3]  Charalampos P. Bechlioulis,et al.  Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems , 2010, IEEE Transactions on Automatic Control.

[4]  Frank L. Lewis,et al.  Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance , 2019, International Journal of Robust and Nonlinear Control.

[5]  Bidyadhar Subudhi,et al.  NARMAX Self-Tuning Controller for Line-of-Sight-Based Waypoint Tracking for an Autonomous Underwater Vehicle , 2017, IEEE Transactions on Control Systems Technology.

[6]  Matthew W. Dunnigan,et al.  A region boundary-based control scheme for an autonomous underwater vehicle , 2011 .

[7]  Shuzhi Sam Ge,et al.  Adaptive neural control of nonlinear time-delay systems with unknown virtual control coefficients , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[8]  Mingjun Zhang,et al.  Trajectory tracking control based on a virtual closed-loop system for autonomous underwater vehicles , 2020, Int. J. Control.

[9]  Vincent Creuze,et al.  Trajectory tracking for autonomous underwater vehicle: An adaptive approach , 2019, Ocean Engineering.

[10]  Thom Maughan,et al.  Autonomous tracking of an oceanic thermal front by a Wave Glider , 2019, J. Field Robotics.

[11]  Charalampos P. Bechlioulis,et al.  A low-complexity global approximation-free control scheme with prescribed performance for unknown pure feedback systems , 2014, Autom..

[12]  Gaurav S. Sukhatme,et al.  Coordinated sampling of dynamic oceanographic features with underwater vehicles and drifters , 2012, Int. J. Robotics Res..

[13]  Xiaodong Shao,et al.  Fault-Tolerant Prescribed Performance Attitude Tracking Control for Spacecraft Under Input Saturation , 2020, IEEE Transactions on Control Systems Technology.

[14]  Chien Chern Cheah,et al.  Region-reaching control for underwater vehicle with onboard manipulator , 2008 .

[15]  R. McEwen,et al.  Targeted Sampling by Autonomous Underwater Vehicles , 2019, Front. Mar. Sci..

[16]  Guang-Hong Yang,et al.  Prescribed Performance Fault-Tolerant Control of Uncertain Nonlinear Systems With Unknown Control Directions , 2017, IEEE Transactions on Automatic Control.

[17]  Charalampos P. Bechlioulis,et al.  Trajectory Tracking With Prescribed Performance for Underactuated Underwater Vehicles Under Model Uncertainties and External Disturbances , 2017, IEEE Transactions on Control Systems Technology.

[18]  Matthew W. Dunnigan,et al.  Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters , 2014 .

[19]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[20]  Sung Jin Yoo,et al.  Robust Fault–tolerant Tracking with Predefined Performance for Underactuated Surface Vessels , 2016 .

[21]  Charalampos P. Bechlioulis,et al.  Robust Partial-State Feedback Prescribed Performance Control of Cascade Systems With Unknown Nonlinearities , 2011, IEEE Transactions on Automatic Control.

[22]  Indra Narayan Kar,et al.  Region tracking based control of an autonomous underwater vehicle with input delay , 2015 .

[23]  Matthew W. Dunnigan,et al.  Tracking control scheme for an underwater vehicle-manipulator system with single and multiple sub-regions and sub-task objectives , 2011 .

[24]  Nilanjan Sarkar,et al.  Fault-tolerant control of an autonomous underwater vehicle under thruster redundancy , 2001, Robotics Auton. Syst..

[25]  Guang-Hong Yang,et al.  Adaptive asymptotic stabilization of a class of unknown nonlinear systems with specified convergence rate , 2018, International Journal of Robust and Nonlinear Control.

[26]  Fei Wang,et al.  Backstepping Based Adaptive Region Tracking Fault Tolerant Control for Autonomous Underwater Vehicles , 2016, Journal of Navigation.

[27]  George A. Rovithakis,et al.  Guaranteeing preselected tracking quality for uncertain strict-feedback systems with deadzone input nonlinearity and disturbances via low-complexity control , 2015, Autom..

[28]  Xiang Li,et al.  Adaptive region tracking control for autonomous underwater vehicle , 2010, 2010 11th International Conference on Control Automation Robotics & Vision.

[29]  Mingjun Zhang.  Adaptive Region Tracking Control for Autonomous Underwater Vehicle , 2014 .