Model predictive and adaptive neural sliding mode control for three-dimensional path following of autonomous underwater
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SMART DATA AGGREGATION INSPIRED PARADIGM & APPROACHES IN IOT APPLNS
Model predictive and adaptive neural sliding mode control for threedimensional path following of autonomous underwater vehicle with input saturation Xuliang Yao1 • Xiaowei Wang1,2
•
Le Zhang2 • Xiaogang Jiang2
Received: 20 October 2018 / Accepted: 20 December 2018 Ó Springer-Verlag London Ltd., part of Springer Nature 2019
Abstract With model uncertainties and input saturation, a novel control method is developed to steer an underactuated autonomous underwater vehicle that realizes the following of the planned path in three-dimensional (3D) space. Firstly, Serret–Frenet frame is applied as virtual target, and the path following errors model in 3D is built. Secondly, the control method which includes kinematic controller and dynamic controller was presented based on cascade control strategy. The kinematic controller, which is responsible for generating a series of constrained velocity signals, is designed based on model predictive control. The adaptive radial basis function neural network is used to estimate the model uncertainty caused by hydrodynamic parameters. Moreover, sliding mode control technology is applied in the design of dynamic controller to improve its robustness. Then, the control effect is compared with that of LOS guidance law and PID controller by simulation experiment. The comparison results show that the proposed algorithm can improve path following effect and reduce input saturation. Keywords Autonomous underwater vehicle Path following MPC SMC RBFNN
1 Introduction Autonomous underwater vehicle (AUV) gives us an advanced method to explore the underwater world, which can effectively realize the perception, monitoring, and rapid response to underwater environment. For AUV, the path following and trajectory tracking are fundamental and highly applicable tasks. When the controller of AUV is considering to design, however, some difficulties must be faced. For example, in order to guarantee robustness and minimize energy consumption of the AUVs, most of them are designed like a torpedo and the driving form is of underactuation. Because they are usually lack lateral and & Xiaowei Wang [email protected] 1
College of Automation, Harbin Engineering University, Harbin 150001, China
2
College of Mechanical Engineering, Jiujiang Vocational and Technical College, Jiujiang 332007, China
vertical thrust, the amount of driving forces is fewer than that of their degrees of freedom [1]. In addition, the disturbances, such as ocean currents, and the model uncertainties make the controller design more challenging [2, 3]. For path following and trajectory tracking, the line-ofsight (LOS) guidance principle is a widely used approach [4–7]. Aiming at the track tracking for underactuated surface vessel (USV), a linear control strategy is developed in [8]. However, this controller requires precise model parameters. Besides, other controllers for curve path tracking were designed using
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