Prescribed-performance time-delay compensation control for UUV trajectory tracking in main-branch water conveyance tunnel transitions under unknown input delays

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering Pub Date : 2025-10-06 DOI:10.1016/j.oceaneng.2025.122941

Liwen Zhang, Yushan Sun, Puxin Chai, Jiehui Tan, Haotian Zheng

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引用次数: 0

Abstract

This study presents a novel control framework with delay compensation and prescribed performance guarantees for unmanned underwater vehicles (UUVs) trajectory tracking control in main-branch water conveyance tunnel transitions inspection tasks, addressing systems subject to uncertain time-varying input delays. The methodology integrates prescribed performance functions with a backstepping technique to develop virtual control laws, thereby ensuring bounded transient and steady-state tracking errors. Additionally, the study implements a delay compensator based on the integral of historical control inputs and estimation of uncertain input delays, effectively mitigating the adverse effects of unknown time-varying delays on trajectory tracking performance. Through the construction of Lyapunov-Krasovskii (L-K) functionals and Lyapunov theory, uniform ultimate boundednes of all closed-loop signals is rigorously proven. Simulation and field test results demonstrate that the proposed method maintains tracking errors within prescribed bounds, ensure both transient and steady-state control performance, and significantly enhance navigation safety for UUVs in tunnel entry/exit scenarios.

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未知输入时滞条件下主支输水隧道UUV轨迹跟踪的规定性能时滞补偿控制

针对具有不确定时变输入延迟的系统，提出了一种具有延迟补偿和规定性能保证的新型无人潜航器（uuv）主支输水隧道过渡检测任务的轨迹跟踪控制框架。该方法将规定的性能函数与回溯技术相结合，建立虚拟控制律，从而保证了有界的瞬态和稳态跟踪误差。此外，研究还实现了基于历史控制输入积分和不确定输入延迟估计的延迟补偿器，有效减轻了未知时变延迟对轨迹跟踪性能的不利影响。通过构造Lyapunov- krasovskii （L-K）泛函和Lyapunov理论，严格证明了所有闭环信号的一致极限有界。仿真和现场试验结果表明，该方法能将跟踪误差控制在规定范围内，保证瞬态和稳态控制性能，显著提高了uuv在隧道进出场景下的导航安全性。

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来源期刊

Ocean Engineering 工程技术-工程：大洋

CiteScore

7.30

自引率

34.00%

发文量

2379

审稿时长

8.1 months

期刊介绍： Ocean Engineering provides a medium for the publication of original research and development work in the field of ocean engineering. Ocean Engineering seeks papers in the following topics.