By Topic

Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Bi, F.Y. ; Sch. of Astronaut., Harbin Inst. of Technol., Harbin, China ; Wei, Y.J. ; Zhang, J.Z. ; Cao, W.

This study addresses the problem of position-tracking control of underactuated autonomous underwater vehicles (AUVs) in the presence of unknown ocean currents in a horizontal plane. A position-tracking controller and a current observer are presented based on the Lyapunov stability theory by using the backstepping technique, respectively. The final controlled system, which arises from putting together the position-tracking controller and the observer, is proved to be globally K-exponentially stable by stability criteria for cascade system. The trajectories used for the illustration of the proposed control schemes are a circle with constant velocity and a sinusoidal curve that requires time-varying velocity. In order to demonstrate the practicability of the proposed controller, the surge force is assumed to be non-negative, and control input saturations are considered. Simulation results are presented to demonstrate the effectiveness of the proposed control schemes.

Published in:

Control Theory & Applications, IET  (Volume:4 ,  Issue: 11 )