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3D Space Trajectory Tracking of Underactuated AUVs using Back-Stepping Control and Time Delay Estimation⁎This research was supported by Institute of Civil Military Technology Cooperation(ICMTC) of Agency for Defense De-velopment(ADD), funded by Defense Acuisition Program Ad-ministration(DAPA) and Ministry of Trade, Industry and En-ergy(MOTIE)(Developement of multisensor fusion based AUVs terminal guidance and docking technology, 17-CM-RB-16). Issue 16 (2021)
Record Type:
Journal Article
Title:
3D Space Trajectory Tracking of Underactuated AUVs using Back-Stepping Control and Time Delay Estimation⁎This research was supported by Institute of Civil Military Technology Cooperation(ICMTC) of Agency for Defense De-velopment(ADD), funded by Defense Acuisition Program Ad-ministration(DAPA) and Ministry of Trade, Industry and En-ergy(MOTIE)(Developement of multisensor fusion based AUVs terminal guidance and docking technology, 17-CM-RB-16). Issue 16 (2021)
Main Title:
3D Space Trajectory Tracking of Underactuated AUVs using Back-Stepping Control and Time Delay Estimation⁎This research was supported by Institute of Civil Military Technology Cooperation(ICMTC) of Agency for Defense De-velopment(ADD), funded by Defense Acuisition Program Ad-ministration(DAPA) and Ministry of Trade, Industry and En-ergy(MOTIE)(Developement of multisensor fusion based AUVs terminal guidance and docking technology, 17-CM-RB-16).
Abstract: In this paper, a robust controller using the back-stepping approach and the time delay estimation(TDE) is proposed for the 3D space motion control of torpedo-like autonomous underwater vehicles(AUVs). Due to the lack of control inputs, the vehicle dynamics does not satisfy the matching condition and has nonlinear dynamics including rigid dynamics and hydrodynamics. By utilizing a relevant coordinate transform, it is shown that the tracking error dynamics of the vehicles can be represented as a strict-feedback form. Using the error dynamics, the back-stepping controller is designed to gain robustness against the unmatched dynamics. The nonlinear dynamics of the vehicle is compensated by using the TDE which estimates the dynamics robustly utilizing the system inputs and outputs. By combining the back-stepping scheme and the TDE, the proposed controller has robust tracking performance against model uncertainties and disturbances. Owing simplicity of the TDE, moreover, the proposed controller can be implemented without necessity of whole dynamic model of the vehicles. The simulation results using the REMUS model demonstrates the robustness of the proposed controller against the model uncertainties and disturbances.