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Guidance-error-based robust fuzzy adaptive control for bottom following of a flight-style AUV with delayed and saturated control surfaces

Guidance-error-based robust fuzzy adaptive control for bottom following of a flight-style AUV with delayed and saturated control surfaces
Guidance-error-based robust fuzzy adaptive control for bottom following of a flight-style AUV with delayed and saturated control surfaces
This paper addresses the problem of robust bottom following control for a flight-style autonomous underwater vehicle (AUV) with both delayed and saturated control surfaces by using a pair of rudders. First, the time-delayed dynamics of rudders is considered, which renders a high-order nonlinear dynamics analysis and design in the model-based backstepping controller by utilizing guidance errors; Second, to overcome the shaking control behaviour resulted by the model-based high order derivative calculation, a fuzzy approximator-based modelfree controller is proposed, in order to online approximate the unknown part of the ideal backstepping architecture. In addition, the adaptive error estimation technology is resorted to compensate the system approximation error, ensuring that all the position and orientation errors of robust bottom following control tend to zero; Third, to further tackle the potential unstable control behaviour from inherent saturation of control surfaces driven by rudders, an additional adaptive fuzzy compensator is introduced, in order to compensate control truncation between the unsaturated and saturation inputs. Subsequently, Lyapunov theory and Barbalat lemma are adopted to synthesize asymptotic stability of the entire bottom following control system; Finally, comparative numerical simulations among the model-based benchmark controller, the unsaturated and saturated model-free controllers are provided to illustrate adaptability and robustness of the proposed bottom following controller for a flight-style AUV with delayed and saturated control surfaces.
Autonomous Underwater Vehicle, Actuator saturation, Delayed dynamics, Fuzzy adaptive control, , Robust control
2168-2267
Yu, Caoyang
dbd01db6-90b0-4da4-8610-d1821978ed9f
Xiang, Xianbo
cc53b4b2-78b1-4fd4-a4ba-be5936ef63e5
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Zhang, Qin
30e6a53c-3302-4aac-ae77-42c8b8d8e4f1
Yu, Caoyang
dbd01db6-90b0-4da4-8610-d1821978ed9f
Xiang, Xianbo
cc53b4b2-78b1-4fd4-a4ba-be5936ef63e5
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Zhang, Qin
30e6a53c-3302-4aac-ae77-42c8b8d8e4f1

Yu, Caoyang, Xiang, Xianbo, Wilson, Philip and Zhang, Qin (2019) Guidance-error-based robust fuzzy adaptive control for bottom following of a flight-style AUV with delayed and saturated control surfaces. IEEE Transactions on Cybernetics. (doi:10.1109/TCYB.2018.2890582).

Record type: Article

Abstract

This paper addresses the problem of robust bottom following control for a flight-style autonomous underwater vehicle (AUV) with both delayed and saturated control surfaces by using a pair of rudders. First, the time-delayed dynamics of rudders is considered, which renders a high-order nonlinear dynamics analysis and design in the model-based backstepping controller by utilizing guidance errors; Second, to overcome the shaking control behaviour resulted by the model-based high order derivative calculation, a fuzzy approximator-based modelfree controller is proposed, in order to online approximate the unknown part of the ideal backstepping architecture. In addition, the adaptive error estimation technology is resorted to compensate the system approximation error, ensuring that all the position and orientation errors of robust bottom following control tend to zero; Third, to further tackle the potential unstable control behaviour from inherent saturation of control surfaces driven by rudders, an additional adaptive fuzzy compensator is introduced, in order to compensate control truncation between the unsaturated and saturation inputs. Subsequently, Lyapunov theory and Barbalat lemma are adopted to synthesize asymptotic stability of the entire bottom following control system; Finally, comparative numerical simulations among the model-based benchmark controller, the unsaturated and saturated model-free controllers are provided to illustrate adaptability and robustness of the proposed bottom following controller for a flight-style AUV with delayed and saturated control surfaces.

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More information

Submitted date: 22 February 2018
Accepted/In Press date: 26 December 2018
e-pub ahead of print date: 15 January 2019
Keywords: Autonomous Underwater Vehicle, Actuator saturation, Delayed dynamics, Fuzzy adaptive control, , Robust control

Identifiers

Local EPrints ID: 418447
URI: http://eprints.soton.ac.uk/id/eprint/418447
ISSN: 2168-2267
PURE UUID: 85792053-1298-4b0d-acf3-8068c325d63d
ORCID for Philip Wilson: ORCID iD orcid.org/0000-0002-6939-682X

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Date deposited: 08 Mar 2018 17:30
Last modified: 28 Apr 2022 01:33

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Contributors

Author: Caoyang Yu
Author: Xianbo Xiang
Author: Philip Wilson ORCID iD
Author: Qin Zhang

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