Dynamic surface and active disturbance rejection control for path following of an underactuated UUV
Summary: This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance rejection control (DS-ADRC) to solve the path following control problem. This controller can effectively avoid the phenomenon of explosion of terms in the conventional backstepping method, reduce the dependence on the UUV controller mathematical model, and enhance the antijamming ability. Simulation is carried out to verify the effectiveness of the proposed control method for an underactuated UUV. The results show that, even for this controller with disturbance, the cross-track error of UUV is gradually converged to zero and has some certain robustness.
- Design of a path following controller for an underactuated AUV
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- Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance
- Underactuated UUV tracking control of adaptive RBF neural network and backstepping method
- Formation path following control of underactuated USVs
- Robust fuzzy 3D path following for autonomous underwater vehicle subject to uncertainties
- Path following control of an AUV under the current using the SVR-ADRC
- Fuzzy-based optimal adaptive line-of-sight path following for underactuated unmanned surface vehicle with uncertainties and time-varying disturbances
- Robust output-feedback VFO-ADR control of underactuated spatial vehicles in the task of following non-parametrized paths
- Formation path following control of underactuated USVs
- Composite finite-time straight-line path-following control of an underactuated surface vessel
- Uncertainty observation-based adaptive succinct fuzzy-neuro dynamic surface control for trajectory tracking of fully actuated underwater vehicle system with input saturation
- Integrated guidance and control strategy for homing of unmanned underwater vehicles
- Underactuated AUV systems optimal disturbance rejection control with disturbances
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- Path-following algorithms and experiments for an unmanned surface vehicle
- Robust depth control of under-actuated underwater vehicles based on backstepping
- Underactuated UUV tracking control of adaptive RBF neural network and backstepping method
- 3-D robust tracking control of unmanned underwater vehicle based on error space theory
- Path following control of underactuated ships based on unscented Kalman filter
- Three-dimensional path following control of underactuated autonomous underwater vehicles with nonzero roll dynamics: a novel line-of-sight-guided approach
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