A sphere region tracking control scheme for underwater vehicles
A sphere region tracking control scheme for underwater vehicles
The concept of region tracking control has advantages for underwater vehicles for some special missions, such as pipeline tracking. This article develops a sphere region tracking control scheme based on barrier Lyapunov functions, where an observer is used to estimate the effects of external disturbances and modeling uncertainty. It is shown that the distance between the vehicle's position and the corresponding point on the desired trajectory is always kept within the prescribed boundaries. Simultaneously, the absolute value of each attitude-tracking error is less than another defined boundary. Finally, the new control scheme is applied to a fully actuated underwater vehicle, and the advantages of this strategy are validated compared to other region-tracking control schemes.
Attitude control, Lyapunov methods, Steady-state, Trajectory, Transient analysis, Uncertainty, Underwater vehicle, Underwater vehicles, barrier Lyapunov function, observer, prescribed boundaries, sphere region tracking, underwater vehicle, Barrier Lyapunov function
9835-9844
Liu, Xing
a48919e5-efd8-405a-a5e2-60508b78a334
Zhang, Mingjun
3777d4f5-fa7c-4dfc-8b44-085ff37692d3
Chu, Zhenzhong
f72a9ee5-2cae-41ec-8bd8-cf4ab4ffde26
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
1 August 2023
Liu, Xing
a48919e5-efd8-405a-a5e2-60508b78a334
Zhang, Mingjun
3777d4f5-fa7c-4dfc-8b44-085ff37692d3
Chu, Zhenzhong
f72a9ee5-2cae-41ec-8bd8-cf4ab4ffde26
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Liu, Xing, Zhang, Mingjun, Chu, Zhenzhong and Rogers, Eric
(2023)
A sphere region tracking control scheme for underwater vehicles.
IEEE Transactions on Vehicular Technology, 72 (8), .
(doi:10.1109/TVT.2023.3257763).
Abstract
The concept of region tracking control has advantages for underwater vehicles for some special missions, such as pipeline tracking. This article develops a sphere region tracking control scheme based on barrier Lyapunov functions, where an observer is used to estimate the effects of external disturbances and modeling uncertainty. It is shown that the distance between the vehicle's position and the corresponding point on the desired trajectory is always kept within the prescribed boundaries. Simultaneously, the absolute value of each attitude-tracking error is less than another defined boundary. Finally, the new control scheme is applied to a fully actuated underwater vehicle, and the advantages of this strategy are validated compared to other region-tracking control schemes.
Text
IEEE -4
- Accepted Manuscript
More information
Accepted/In Press date: 16 February 2023
Published date: 1 August 2023
Additional Information:
Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grants 51839004 and 52201357, and in part by the Fundamental Research Funds for the Central Universities underGrant 3072022TS0701.
Publisher Copyright:
© 1967-2012 IEEE.
Keywords:
Attitude control, Lyapunov methods, Steady-state, Trajectory, Transient analysis, Uncertainty, Underwater vehicle, Underwater vehicles, barrier Lyapunov function, observer, prescribed boundaries, sphere region tracking, underwater vehicle, Barrier Lyapunov function
Identifiers
Local EPrints ID: 479944
URI: http://eprints.soton.ac.uk/id/eprint/479944
ISSN: 0018-9545
PURE UUID: 5c98544e-b80a-4a13-92eb-bc63ea022bab
Catalogue record
Date deposited: 31 Jul 2023 16:39
Last modified: 18 Mar 2024 02:38
Export record
Altmetrics
Contributors
Author:
Xing Liu
Author:
Mingjun Zhang
Author:
Zhenzhong Chu
Author:
Eric Rogers
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics