Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2019-11, Vol.19 (22), p.4987
Main Authors: Xu, Hao, Zhang, Guo-Cheng, Cao, Jian, Pang, Shuo, Sun, Yu-Shan
Format: Article
Language:English
Subjects:
3d path following
Autonomous underwater vehicles
backstepping method
Control theory
Controllers
Disturbance observers
Dynamic models
Equations of motion
Kinematics
Nonlinear control
Ocean currents
ocean currents disturbance
Robust control
Saturation
Stability
super-twisting observer
Trajectory planning
Twisting
underactuated auv
Velocity
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Summary:The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed based on virtual guidance method. Then, a finite-time control scheme based on super-twisting observer and command filtered backstepping technology is proposed. We adopt super-twisting observer based on finite-time theory to observe the ocean currents disturbances for improving the system robust. A command filtered backstepping is proposed to replace the differential process in the conventional backstepping method for avoiding the differential expansion problem. The filter compensation loop is designed to ensure the accuracy of the filtered signal, and the anti-integration saturation link is designed considering the influence of integral saturation. Lyapunov stability theory is used to prove the stability of the underactuated AUV. Simulation studies are conducted to show the effectiveness and robustness of the controller.
ISSN:1424-8220
1424-8220
DOI:10.3390/s19224987