Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments
| Autor: | Vincent Creuze, Ahmed Chemori, Auwal Shehu Tijjani |
|---|---|
| Přispěvatelé: | Conception et commande de robots pour la manipulation (DEXTER), 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), Image & Interaction (ICAR) |
| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Adaptive control Computer science Stability analysis 02 engineering and technology Remotely operated underwater vehicle [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science Applications Tracking error Vehicle dynamics symbols.namesake 020901 industrial engineering & automation Exponential stability Control and Systems Engineering Control theory Robustness (computer science) Control system symbols Underwater vehicle Robust adaptive control 14. Life underwater Finite-time convergence Real-time experiments Electrical and Electronic Engineering |
| Zdroj: | IEEE/ASME Transactions on Mechatronics IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2021, 26 (2), pp.897-907. ⟨10.1109/TMECH.2020.3012502⟩ |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2020.3012502 |
| Popis: | International audience; The unpredictable nature of the marine environment , combined with nonlinear dynamics and parameter uncertainty of underwater vehicles makes the control system design for such vehicles a challenging task. Based on these issues, hybridising robustness and adaptation in the control system could result in more successful marine missions. This work proposes a robust adaptive control (RAC) scheme for trajectory tracking of an autonomous underwater vehicle. The proposed RAC scheme has been developed by exploiting the advantages of a robust sliding mode controller (SMC) and an adaptation law. Lyapunov arguments are proposed to prove the exponential stability and finite-time convergence of the resulting closed-loop dynamics tracking error to an invariant set, S (very close to zero). Scenarios-based real-time experiments are conducted with the Leonard ROV prototype to demonstrate the effectiveness of the proposed RAC approach. The control design performance indices (root mean square error RMSE, integral absolute error IAE and integral square error ISE) and a comparative analysis with a recent control scheme from the literature confirm the interest of the proposed RAC scheme for marine applications. |
| Databáze: | OpenAIRE |
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