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Trajectory tracking control for autonomous underwater vehicles based on fuzzy re-planning of a local desired trajectory

Trajectory tracking control for autonomous underwater vehicles based on fuzzy re-planning of a local desired trajectory
Trajectory tracking control for autonomous underwater vehicles based on fuzzy re-planning of a local desired trajectory

This paper investigates the trajectory tracking control problem for autonomous underwater vehicles whose initial starting position differs substantially from that specified by the desired trajectory. This scenario is very likely to cause serious chattering in the control output, especially in the early stages, when the large tracking error is the input to the controller. A novel trajectory tracking control strategy is developed based on fuzzy re-planning of a local desired trajectory. At each time instant, a local desired trajectory is reconstructed based on the AUV's current position and that specified by the original desired trajectory at a future time. Also the control effort is computed based on the local desired trajectory, rather than the original one. Moreover, the interval between each time instant is determined by a new single-input fuzzy model, where the input is determined by the distance between AUV's current and desired trajectories and the change in the distance. Finally, the effectiveness of the new control strategy is verified by simulation-based case studies using an actual vehicle model as a necessary step prior to experimental validation.

Autonomous underwater vehicles, local desired trajectory re-planning, single-input fuzzy logic, trajectory tracking
0018-9545
11657-11667
Liu, Xing
339cb7b3-da9c-4557-9f00-c38335d40797
Zhang, Mingjun
3f2fa55f-5931-401b-af64-9151a199263b
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Liu, Xing
339cb7b3-da9c-4557-9f00-c38335d40797
Zhang, Mingjun
3f2fa55f-5931-401b-af64-9151a199263b
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

Liu, Xing, Zhang, Mingjun and Rogers, Eric (2019) Trajectory tracking control for autonomous underwater vehicles based on fuzzy re-planning of a local desired trajectory. IEEE Transactions on Vehicular Technology, 68 (12), 11657-11667, [8876718]. (doi:10.1109/TVT.2019.2948153).

Record type: Article

Abstract

This paper investigates the trajectory tracking control problem for autonomous underwater vehicles whose initial starting position differs substantially from that specified by the desired trajectory. This scenario is very likely to cause serious chattering in the control output, especially in the early stages, when the large tracking error is the input to the controller. A novel trajectory tracking control strategy is developed based on fuzzy re-planning of a local desired trajectory. At each time instant, a local desired trajectory is reconstructed based on the AUV's current position and that specified by the original desired trajectory at a future time. Also the control effort is computed based on the local desired trajectory, rather than the original one. Moreover, the interval between each time instant is determined by a new single-input fuzzy model, where the input is determined by the distance between AUV's current and desired trajectories and the change in the distance. Finally, the effectiveness of the new control strategy is verified by simulation-based case studies using an actual vehicle model as a necessary step prior to experimental validation.

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More information

Accepted/In Press date: 14 October 2019
e-pub ahead of print date: 18 October 2019
Published date: 1 December 2019
Keywords: Autonomous underwater vehicles, local desired trajectory re-planning, single-input fuzzy logic, trajectory tracking

Identifiers

Local EPrints ID: 437193
URI: http://eprints.soton.ac.uk/id/eprint/437193
ISSN: 0018-9545
PURE UUID: 4434f3f6-e123-4beb-ace8-ea4f5f5d12c6
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 21 Jan 2020 17:35
Last modified: 07 Oct 2020 01:34

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