Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicle in the Presence of Ocean Currents

doi:10.23940/ijpe.19.06.p23.17161723

Int J Performability Eng ›› 2019, Vol. 15 ›› Issue (6): 1716-1723.doi: 10.23940/ijpe.19.06.p23.17161723

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Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicle in the Presence of Ocean Currents

Lukun Wang^*, Chunpeng Tian, and Xiaodong Yang

Department of Information Engineering, Shandong University of Science and Technology, Taian, 271019, China

Submitted on ;
Contact: * E-mail address: wanglukun@gmail.com
About author:Lukun Wang received his B.S. degree in computer science from Shandong University of Science and Technology in 2006, his M.S. degree in software engineering from Dalian University of Technology in 2006, and his Ph.D. in computer science from Ocean University of China. Currently, he is a lecturer at Shandong University of Science and Technology. His current research interests include artificial intelligence, image processing and pattern recognition, machine learning, control theory and applications, and sensor networks.Chunpeng Tian received his B.S. degree in computer science from University of Science & Technology Beijing in 2009, his M.S. degree in computer science from Qingdao University of Science and Technology in 2012, and his Ph.D. in computer science from Ocean University of China. Currently, he is a lecturer at Shandong University of Science and Technology.Xiaodong Yang received his B.S. degree in computer science from Fuzhou University in 1991. Currently, he is an associate professor at Shandong University of Science and Technology.
Supported by:
This research was supported by the National Natural Science Foundation of Shandong Province (No. ZR2018BF005), the Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents (No. 2017RCJJ077), the Shandong Province Higher Educational Science and Technology Program (No. J17KB167), and the Science and Technology Program of Taian (No. 2017GX0014).

Abstract

Abstract: This paper explores trajectory tracking control for underactuated Autonomous Underwater Vehicles (AUV). The controller of dynamics based on backstepping technology is proposed. Firstly, the dynamics and kinematic model of AUV are designed. Secondly, the cascade method is applied to decompose the tracking error system into position tracking error subsystem and heading angle tracking error subsystem. Finally, backstepping technology is used to design the controller. Two virtual feedback variables are constructed, an AUV trajectory tracking controller is designed, and then the stability of the system is proven by the Lyapunov method. The results demonstrate that the proposed control schemes can make tracking errors converge uniformly.

Key words: underactuated underwater autonomous vehicle, cascaded theory, trajectory tracking control, backstepping, Lyapunov

Lukun Wang, Chunpeng Tian, and Xiaodong Yang. Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicle in the Presence of Ocean Currents [J]. Int J Performability Eng, 2019, 15(6): 1716-1723.

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Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicle in the Presence of Ocean Currents

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