Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation

This paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) enhanced by adaptive tracking differentiator (A...

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Autores principales:	Ningning Ding, Yuangui Tang, Zhibin Jiang, Yunfei Bai, Shixun Liang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	station-keeping control underwater vehicle-manipulator system super-twisting algorithm extended state observer Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
Acceso en línea:	https://doaj.org/article/4ffbea9feaaa46ef80eaf5d60d60a628
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spelling	oai:doaj.org-article:4ffbea9feaaa46ef80eaf5d60d60a6282021-11-25T18:05:17ZStation-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation10.3390/jmse91113052077-1312https://doaj.org/article/4ffbea9feaaa46ef80eaf5d60d60a6282021-11-01T00:00:00Zhttps://www.mdpi.com/2077-1312/9/11/1305https://doaj.org/toc/2077-1312This paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) enhanced by adaptive tracking differentiator (ATD) and reduced-order extended state observer (RESO) is proposed. The ATD is used to obtain the smooth reference signal and its derivative. The RESO is used to estimate and compensate for the model uncertainties and external disturbances in real-time, which enhances the robustness of the controller. The modified AGSTA ensures the fast convergence of the system states and maintains them in a predefined neighborhood of origin without overestimating control gains. Besides, the proposed new variable gain strategy completely avoids the control gains vibrating near the set minimum value. Thanks to the RESO, the proposed controller is model-free and can be easily implemented in practice. The stability of the closed-loop system is analyzed based on Lyapunov’s direct method in the time domain. Finally, the proposed control scheme is applied to the station-keeping control of Haidou-1 ARV, and the simulation results confirm the superiority of the proposed control scheme over the original AGSTA.Ningning DingYuangui TangZhibin JiangYunfei BaiShixun LiangMDPI AGarticlestation-keeping controlunderwater vehicle-manipulator systemsuper-twisting algorithmextended state observerNaval architecture. Shipbuilding. Marine engineeringVM1-989OceanographyGC1-1581ENJournal of Marine Science and Engineering, Vol 9, Iss 1305, p 1305 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	station-keeping control underwater vehicle-manipulator system super-twisting algorithm extended state observer Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
spellingShingle	station-keeping control underwater vehicle-manipulator system super-twisting algorithm extended state observer Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581 Ningning Ding Yuangui Tang Zhibin Jiang Yunfei Bai Shixun Liang Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation
description	This paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) enhanced by adaptive tracking differentiator (ATD) and reduced-order extended state observer (RESO) is proposed. The ATD is used to obtain the smooth reference signal and its derivative. The RESO is used to estimate and compensate for the model uncertainties and external disturbances in real-time, which enhances the robustness of the controller. The modified AGSTA ensures the fast convergence of the system states and maintains them in a predefined neighborhood of origin without overestimating control gains. Besides, the proposed new variable gain strategy completely avoids the control gains vibrating near the set minimum value. Thanks to the RESO, the proposed controller is model-free and can be easily implemented in practice. The stability of the closed-loop system is analyzed based on Lyapunov’s direct method in the time domain. Finally, the proposed control scheme is applied to the station-keeping control of Haidou-1 ARV, and the simulation results confirm the superiority of the proposed control scheme over the original AGSTA.
format	article
author	Ningning Ding Yuangui Tang Zhibin Jiang Yunfei Bai Shixun Liang
author_facet	Ningning Ding Yuangui Tang Zhibin Jiang Yunfei Bai Shixun Liang
author_sort	Ningning Ding
title	Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation
title_short	Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation
title_full	Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation
title_fullStr	Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation
title_full_unstemmed	Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation
title_sort	station-keeping control of autonomous and remotely-operated vehicles for free floating manipulation
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/4ffbea9feaaa46ef80eaf5d60d60a628
work_keys_str_mv	AT ningningding stationkeepingcontrolofautonomousandremotelyoperatedvehiclesforfreefloatingmanipulation AT yuanguitang stationkeepingcontrolofautonomousandremotelyoperatedvehiclesforfreefloatingmanipulation AT zhibinjiang stationkeepingcontrolofautonomousandremotelyoperatedvehiclesforfreefloatingmanipulation AT yunfeibai stationkeepingcontrolofautonomousandremotelyoperatedvehiclesforfreefloatingmanipulation AT shixunliang stationkeepingcontrolofautonomousandremotelyoperatedvehiclesforfreefloatingmanipulation
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Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation

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