Robust singular perturbation control for 3D path following of underactuated AUVs

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first arti...

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Autores principales:	Ming Lei, Ye Li, Shuo Pang
Formato:	article
Lenguaje:	EN
Publicado:	Elsevier 2021
Materias:	Autonomous underwater vehicle Path following Singular perturbations Control design Stability analysis Ocean engineering TC1501-1800 Naval architecture. Shipbuilding. Marine engineering VM1-989
Acceso en línea:	https://doaj.org/article/288b259adadb4fcfa983b91b14a9f325
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id	oai:doaj.org-article:288b259adadb4fcfa983b91b14a9f325
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spelling	oai:doaj.org-article:288b259adadb4fcfa983b91b14a9f3252021-11-10T04:23:39ZRobust singular perturbation control for 3D path following of underactuated AUVs2092-678210.1016/j.ijnaoe.2021.08.003https://doaj.org/article/288b259adadb4fcfa983b91b14a9f3252021-01-01T00:00:00Zhttp://www.sciencedirect.com/science/article/pii/S2092678221000467https://doaj.org/toc/2092-6782This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.Ming LeiYe LiShuo PangElsevierarticleAutonomous underwater vehiclePath followingSingular perturbationsControl designStability analysisOcean engineeringTC1501-1800Naval architecture. Shipbuilding. Marine engineeringVM1-989ENInternational Journal of Naval Architecture and Ocean Engineering, Vol 13, Iss , Pp 758-771 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Autonomous underwater vehicle Path following Singular perturbations Control design Stability analysis Ocean engineering TC1501-1800 Naval architecture. Shipbuilding. Marine engineering VM1-989
spellingShingle	Autonomous underwater vehicle Path following Singular perturbations Control design Stability analysis Ocean engineering TC1501-1800 Naval architecture. Shipbuilding. Marine engineering VM1-989 Ming Lei Ye Li Shuo Pang Robust singular perturbation control for 3D path following of underactuated AUVs
description	This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.
format	article
author	Ming Lei Ye Li Shuo Pang
author_facet	Ming Lei Ye Li Shuo Pang
author_sort	Ming Lei
title	Robust singular perturbation control for 3D path following of underactuated AUVs
title_short	Robust singular perturbation control for 3D path following of underactuated AUVs
title_full	Robust singular perturbation control for 3D path following of underactuated AUVs
title_fullStr	Robust singular perturbation control for 3D path following of underactuated AUVs
title_full_unstemmed	Robust singular perturbation control for 3D path following of underactuated AUVs
title_sort	robust singular perturbation control for 3d path following of underactuated auvs
publisher	Elsevier
publishDate	2021
url	https://doaj.org/article/288b259adadb4fcfa983b91b14a9f325
work_keys_str_mv	AT minglei robustsingularperturbationcontrolfor3dpathfollowingofunderactuatedauvs AT yeli robustsingularperturbationcontrolfor3dpathfollowingofunderactuatedauvs AT shuopang robustsingularperturbationcontrolfor3dpathfollowingofunderactuatedauvs
_version_	1718440633532678144

Robust singular perturbation control for 3D path following of underactuated AUVs

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