Adaptive trajectory tracking control for remotely operated vehicles considering thruster dynamics and saturation constraints

被引：40

作者：

Chu, Zhenzhong ^{[1
,2
]}

Xiang, Xianbo ^{[1
]}

Zhu, Daqi ^{[2
]}

Luo, Chaomin ^{[3
]}

Xie, De ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan, Peoples R China

[2] Shanghai Maritime Univ, Shanghai Engn Res Ctr Intelligent Maritime Search, Shanghai, Peoples R China

[3] Univ Detroit Mercy, Dept Elect & Comp Engn, Detroit, MI 48221 USA

来源：

ISA TRANSACTIONS | 2020年 / 100卷

基金：

中国国家自然科学基金;

关键词：

Remotely operated vehicle; Saturation constraints; Trajectory tracking; Adaptive control; Thruster dynamics; AUTONOMOUS UNDERWATER VEHICLE; NEURAL-NETWORK CONTROL; SLIDING MODE CONTROL; NONLINEAR-SYSTEMS; FAULT-DETECTION; GUIDANCE; AUV;

D O I：

10.1016/j.isatra.2019.11.032

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper discusses the problem of adaptive trajectory tracking control for remotely operated vehicles (ROVs). Considering thruster dynamics, a third-order state space equation is used to describe the dynamic model of ROVs. For the problem of unknown dynamics and partially known input gain, an adaptive sliding mode control design scheme based on RBF neural networks is developed using a backstepping design technique. Because of the saturation constraints of the thrusters, a first-order auxiliary state system is applied, and subsequently, a saturation factor is constructed for designing adaptive laws to ensure the stability of the adaptive trajectory tracking system when the thrusters are saturated. The proposed controller guaranteed that trajectory tracking errors are uniformly ultimately bounded (UUD). Finally, the effectiveness of the proposed controller is verified by simulations. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：28 / 37

页数：10

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