Trajectory tracking control of an underactuated unmanned underwater vehicle synchronously following mother submarine without velocity measurement

作者：Xu, Jian; Wang, Man^*; Zhang, Gengshi

来源：Advances in Mechanical Engineering, 2015, 7(7): 1687814015595340.

DOI：10.1177/1687814015595340

• Trajectory tracking
• underwater robotics
• underactuated system
• backstepping
• Lyapunov stability theory

This article addresses the trajectory tracking control of underactuated unmanned underwater vehicles, where the control structure is designed to synchronously follow the mother submarine with only available position information. The controller is derived using the virtual guidance strategy and backstepping-based design techniques. The virtual guidance system is first constructed to eliminate the measurement of the mother submarine's velocity and dynamics. The convergence and effectiveness of the virtual guidance system are proven using Lyapunov stability theory. In addition, to enhance the robustness of the underactuated vehicle against the unmodeled dynamics and unknown disturbances from the environment, radial basis function neural networks are finally used to approximate the nonlinear uncertainties. Under the proposed control, semiglobal uniform boundedness of the closed-loop system is guaranteed for adequate choices of the controller gains. A simulation example is included to demonstrate the effectiveness and robustness of the approaches suggested.

• 出版日期2015-7
• 单位哈尔滨工程大学