Robust Performance-Prescribed Attitude Control of Foldable Wave-Energy Powered AUV Using Optimized Backstepping Technique

被引：31
作者：
Dong, Botao [1 ]
Lu, Yunfei [3 ,4 ]
Xie, Wei [1 ]
Huang, Longyang [1 ]
Chen, Weixing [3 ,4 ,5 ]
Yang, Yongliang [6 ]
Zhang, Weidong [1 ,2 ]
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
[2] Hainan Univ, Sch Informat & Commun Engn, Haikou 570228, Hainan, Peoples R China
[3] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
[4] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200240, Peoples R China
[5] Shanghai Jiao Tong Univ, Inst Marine Equipment, Res Ctr Marine Intelligent Equipment & Robot, Shanghai 200240, Peoples R China
[6] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
来源：
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES | 2023年 / 8卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Hydrodynamics; Backstepping; Attitude control; Uncertainty; Intelligent vehicles; Optimal control; Angular velocity; FWEPAUV; optimized back- stepping; performance-prescribed mechanism; reinforcement learning; TRACKING;
D O I：
10.1109/TIV.2022.3189009
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This article investigates the attitude control problem for a novel foldable wave-energy powered autonomous underwater vehicle (FWEPAUV) with model uncertainties and external disturbances. To find a trade-off between the control accuracy and control energy consumption, a robust performance-prescribed optimized backstepping control (RPOBC) scheme is designed for optimal tracking problem by combining the reinforcement learning (RL) technique. The performance-prescribed mechanism is devised to ensure the prescribed tracking accuracy. To make the controller robust against the model uncertainties and external disturbances, an auxiliary system with a novel cost function is introduced into the optimized backstepping (OB) framework. Besides, the theoretical analysis indicates that the RPOBC scheme can guarantee tracking errors converge to predefined performance with an optimal control performance. At last, the simulation results are presented and analyzed to demonstrate the effectiveness of the designed RPOBC strategy.
引用
收藏
页码：1230 / 1240
页数：11
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