Nonlinear trajectory tracking control of underactuated AUVs using the state-dependent Riccati equation (SDRE) with parameter perturbation

This paper deals with a novel direct state-dependent Riccati equation (SDRE) controller designed for trajectory tracking of underactuated autonomous underwater vehicles (AUVs) in the presence of parameter perturbation. Despite the traditional SDRE regulator control, the proposed closed-loop SDRE con...

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Bibliographic Details
Published in:Nonlinear dynamics 2023-10, Vol.111 (19), p.18027-18041
Main Authors: Li, Bangshuai, Gao, Xiujing, Huang, Hongwu, Yang, Huibao
Format: Article
Language:English
Subjects:
Algorithms
Automotive Engineering
Autonomous underwater vehicles
Classical Mechanics
Closed loops
Control
Control systems design
Controllers
Dynamical Systems
Engineering
Mathematical models
Mechanical Engineering
Nonlinear control
Original Paper
Parameter robustness
Perturbation
Position errors
Riccati equation
Robustness
Tracking control
Tracking errors
Tracking systems
Trajectory control
Vibration
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Summary:This paper deals with a novel direct state-dependent Riccati equation (SDRE) controller designed for trajectory tracking of underactuated autonomous underwater vehicles (AUVs) in the presence of parameter perturbation. Despite the traditional SDRE regulator control, the proposed closed-loop SDRE controller design chiefly consists of two parts. First, by selecting a virtual reference point in front of the AUV system as the tracking output, the error variable control model in the earth-fixed reference frame is described. Second, the position errors are driven to the origin by introducing an integral model of first-order fed by the tracking error. The main advantage of the proposed control scheme is that the controller has a unified structure. Moreover, the algorithm is able to provide robustness with parameter perturbation because of its intrinsic robustness capability. Within the SDRE framework, the asymptotic stability of the closed-loop tracking system is also guaranteed. The robustness and effectiveness of the proposed methodology are verified by performing simulation experiments on an underactuated AUV.
ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-023-08778-z