3D path following and L1 adaptive control for underwater vehicles. (1st June 2022)

• Record Type: Journal Article
• Authors: Rober, Nicholas; Hammond, Maxwell; Cichella, Venanzio; Martin, Juan E.; Carrica, Pablo
• Is Part Of: Ocean engineering. Volume 253(2022)
• Publication Date: 2022-06-01
• Subjects: Robust and adaptive control -- Geometric path following -- Underwater vehicles -- Joubert BB2; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2022.110971
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight path-following algorithm is used to guide the vehicle along a three-dimensional path, and an L 1 adaptive control algorithm is used to determine the low-level rudder commands to accomplish path following. The performance bounds of these outer- and inner-loop control algorithms are presented. Numerical results obtained using a physics-based Simulink model are used to aid in visualization of the control algorithm's performance. Highlights: Outer loop line-of-sight path-following algorithm guiding AUV along 3-D path. Inner loop L1 adaptive augmentation to commercial PID autopilot of AUV. Numerical results from physics-based Simulink model. Demonstrations of surfacing maneuvers and 3D path following in a complex environment.