Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres
{"title":"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","authors":"Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres","doi":"10.1016/j.robot.2024.104859","DOIUrl":null,"url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"184 ","pages":"Article 104859"},"PeriodicalIF":4.3000,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robust super-twisting-based disturbance observer for autonomous underwater vehicles: Design, stability analysis, and real-time experiments\",\"authors\":\"Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres\",\"doi\":\"10.1016/j.robot.2024.104859\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>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.</div></div>\",\"PeriodicalId\":49592,\"journal\":{\"name\":\"Robotics and Autonomous Systems\",\"volume\":\"184 \",\"pages\":\"Article 104859\"},\"PeriodicalIF\":4.3000,\"publicationDate\":\"2024-11-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Robotics and Autonomous Systems\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0921889024002434\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics and Autonomous Systems","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0921889024002434","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Robust super-twisting-based disturbance observer for autonomous underwater vehicles: Design, stability analysis, and real-time experiments
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.
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.