Adaptive disturbance observer for trajectory tracking control of underwater vehicles. (15th March 2020)

• Record Type: Journal Article
• Authors: Guerrero, J.; Torres, J.; Creuze, V.; Chemori, A.
• Is Part Of: Ocean engineering. Volume 200(2020)
• Publication Date: 2020-03-15
• Subjects: Sliding mode control -- Backstepping -- PD -- Autonomous underwater vehicles -- Adaptive control; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2020.107080
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: Complex and highly coupled dynamics, time-variance, unpredictable disturbances and lack of knowledge of hydrodynamic parameters, complicate the control of underwater vehicles. This paper deals with the adaptive disturbance observer design for the robust trajectory tracking problem for underwater vehicles in presence of unknown external disturbances and parametric uncertainties. First, the dynamics of the vehicle is transformed into the so-called regular form. Then, based on the Extended State Observer technique and High Order Sliding Modes Control, a disturbance observer is proposed. Furthermore, the gains of the observer are automatically adjusted by the introduction of an adaption law. The stability of the whole controller/observer scheme is proven using Lyapunov's arguments. The adaptive disturbance observer aims to improve the Backstepping and nonlinear PD controllers. Real-Time experiments demonstrate the effectiveness of the proposed algorithm for the trajectory tracking task under several scenarios. Highlights: AUVs are exposed to external disturbances due to the ocean current influence. BS and NLPD controllers show deficiencies when the parameters of the vehicle change. The disturbance observer improves the tracking performance of non-robust controllers. The adaption laws are designed to auto-tune the disturbance observer's gains. The stability of the closed-loop system is proved by Lyapunov stability analysis.