Details

Autor(en) / Beteiligte

• Xie, Tianqi
• Li, Ye
• Jiang, Yanqing
• An, Li
• Wu, Haowei

Titel

Backstepping active disturbance rejection control for trajectory tracking of underactuated autonomous underwater vehicles with position error constraint

Ist Teil von

• International journal of advanced robotic systems, 2020-03, Vol.17 (2), p.172988142090963

Ort / Verlag

London, England: SAGE Publications

Erscheinungsjahr

2020

Link zum Volltext

Quelle

Free E-Journal (出版社公開部分のみ）

Beschreibungen/Notizen

• In this article, the three-dimensional trajectory tracking control of an autonomous underwater vehicle is addressed. The vehicle is assumed to be underactuated and the system parameters and the external disturbances are unknown. First, the five degrees of freedom kinematics and dynamics model of underactuated autonomous underwater vehicle are acquired. Following this, reduced-order linear extended state observers are designed to estimate and compensate for the uncertainties that exist in the model and the external disturbances. A backstepping active disturbance rejection control method is designed with the help of a time-varying barrier Lyapunov function to constrain the position tracking error. Furthermore, the controller system can be proved to be stable by employing the Lyapunov stability theory. Finally, the simulation and comparative analyses demonstrate the usefulness and robustness of the proposed controller in the presence of internal parameter uncertainties and external time-varying disturbances.