Robust super-twisting-based disturbance observer for autonomous underwater vehicles: Design, stability analysis, and real-time experiments

IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres
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引用次数: 0

Abstract

This paper proposes a new observation-based proportional–derivative control method for robust trajectory tracking of autonomous underwater vehicles (AUVs). The proposed control scheme is designed based on a new observation-based nonlinear model that captures the dynamics and uncertainties of the AUV’s behavior. The proposed control method is formulated in such a way that it can handle system nonlinearities and uncertainties, making it robust to external disturbances and model uncertainties. The effectiveness of the proposed control method is demonstrated through extensive real-time experiments in a real-world AUV trajectory tracking scenario. The obtained results show that the proposed control method outperforms other control methods in the literature regarding trajectory tracking accuracy, robustness, and disturbance rejection. Overall, the proposed observation-based proportional–derivative control method can significantly improve the trajectory tracking performance of AUVs in real-world applications.
用于自主潜水器的基于超扭曲的鲁棒扰动观测器:设计、稳定性分析和实时实验
本文提出了一种新的基于观测的比例-衍生控制方法,用于自主潜水器(AUV)的鲁棒轨迹跟踪。所提出的控制方案是基于新的基于观测的非线性模型设计的,该模型捕捉了 AUV 行为的动态和不确定性。所提出的控制方法可以处理系统的非线性和不确定性,使其对外部干扰和模型不确定性具有鲁棒性。通过在实际 AUV 轨迹跟踪场景中进行大量实时实验,证明了所提控制方法的有效性。结果表明,所提出的控制方法在轨迹跟踪精度、鲁棒性和干扰抑制方面优于文献中的其他控制方法。总体而言,所提出的基于观测的比例-派生控制方法可以显著提高 AUV 在实际应用中的轨迹跟踪性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
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