International Journal of Naval Architecture and Ocean Engineering

The Society of Naval Architects of Korea (대한조선학회)
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Robust singular perturbation control for 3D path following of underactuated AUVs

  • Lei, Ming (Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University) ;
  • Li, Ye (Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University) ;
  • Pang, Shuo (Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University)
  • Received : 2021.03.30
  • Accepted : 2021.08.12
  • Published : 2021.11.30
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Abstract

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

Keywords

Acknowledgement

This work is supported by the National Natural Science Foundation of China (Projects: 51879057, 51779052 and 51809064).

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