TY - GEN
T1 - Robust Prescribed Performance tracking control for unknown underactuated torpedo-like AUVs
AU - Bechlioulis, Charalampos P.
AU - Kyriakopoulos, Kostas J.
PY - 2013
Y1 - 2013
N2 - This paper addresses the tracking control problem of 3D trajectories for underactuated torpedo-like Autonomous Underwater Vehicles (AUVs). A smooth control scheme is designed, without any a priori knowledge of the AUV model parameters, guaranteeing prescribed performance tracking despite the presence of external disturbances representing ocean currents and waves. This work is the first approach on underactuated systems employing the Prescribed Performance notion, originally proposed in [1]-[3]. Moreover, only the desired trajectory and none of its higher order derivatives is employed in the control scheme. Furthermore, the stability of the unactuated degrees of freedom is secured without incorporating the corresponding measurements in the control signal, thus simplifying implementation and increasing robustness against measurement noises. The proposed control scheme: i) is of low complexity, ii) avoids singularities that arise owing to the error definition in the kinematic model and iii) guarantees, through the appropriate selection of certain performance functions, configuration constraints that may arise owing to the limited field of view of cameras in case a vision based sensor system with on board cameras is adopted. Finally, simulation results clarify and verify the approach.
AB - This paper addresses the tracking control problem of 3D trajectories for underactuated torpedo-like Autonomous Underwater Vehicles (AUVs). A smooth control scheme is designed, without any a priori knowledge of the AUV model parameters, guaranteeing prescribed performance tracking despite the presence of external disturbances representing ocean currents and waves. This work is the first approach on underactuated systems employing the Prescribed Performance notion, originally proposed in [1]-[3]. Moreover, only the desired trajectory and none of its higher order derivatives is employed in the control scheme. Furthermore, the stability of the unactuated degrees of freedom is secured without incorporating the corresponding measurements in the control signal, thus simplifying implementation and increasing robustness against measurement noises. The proposed control scheme: i) is of low complexity, ii) avoids singularities that arise owing to the error definition in the kinematic model and iii) guarantees, through the appropriate selection of certain performance functions, configuration constraints that may arise owing to the limited field of view of cameras in case a vision based sensor system with on board cameras is adopted. Finally, simulation results clarify and verify the approach.
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U2 - 10.23919/ecc.2013.6669264
DO - 10.23919/ecc.2013.6669264
M3 - Conference contribution
AN - SCOPUS:84893232860
SN - 9783033039629
T3 - 2013 European Control Conference, ECC 2013
SP - 4388
EP - 4393
BT - 2013 European Control Conference, ECC 2013
PB - IEEE Computer Society
T2 - 2013 12th European Control Conference, ECC 2013
Y2 - 17 July 2013 through 19 July 2013
ER -