Fuzzy State Observer-Based Cooperative Path-Following Control of Autonomous Underwater Vehicles with Unknown Dynamics an
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Fuzzy State Observer-Based Cooperative Path-Following Control of Autonomous Underwater Vehicles with Unknown Dynamics and Ocean Disturbances Xingru Qu1 • Xiao Liang1 • Yuanhang Hou1
Received: 22 May 2020 / Revised: 20 July 2020 / Accepted: 10 August 2020 Taiwan Fuzzy Systems Association 2020
Abstract This article considers the cooperative path-following control problem for a cluster of networked autonomous underwater vehicles (AUVs) suffering from unknown dynamics and ocean disturbances. By virtue of light-of-sight guidance and undirected graph, a synchronized guidance approach is created for underactuated AUVs, where multiple geometry curves are taken into account and information exchanges-related path variables are utilized, and thereby enabling AUVs to be synchronized and stabilized into a desired formation pattern. Within the distributed surge and yaw controller design, the unknown dynamics and the ocean disturbances are lumped together by using a linear state transformation. And a prediction-based fuzzy state observer (PFSO) is devised for estimating the unmeasured lumped states, where prediction errors are used to update fuzzy weights. Through the Lyapunov analysis, it is proven that surge and yaw-tracking errors and state observation errors are uniformly ultimately bounded. Simulation verifications are deployed to illustrate the efficacy and superiority of the designed method. Keywords Synchronized guidance Fuzzy state observer Prediction Cooperative path-following control Autonomous underwater vehicles
& Xiao Liang [email protected] 1
School of Naval Architecture and Ocean Engineering, Dalian Maritime University, Dalian, Liaoning, China
1 Introduction Recently, cooperative control of multi-vehicle systems has drawn an extensive research attention from control communities and engineering applications [1, 2]. One benefit of cooperative control is that it could enable operators to oversee and manage a cluster of networked vehicles, thus multiplying the operating effectiveness. In many practical applications, autonomous underwater vehicles (AUVs) are required to track one or multiple predefined geometry paths with a given formation pattern [3]. On this background, considerable effort and emphasis have been centered on the cooperative path-following control of AUVs [4, 5]. In general, formation keeping and dynamics designing are taken into account for the cooperative path-following control. The former is used to set and maintain a predefined geometry pattern between two or more vehicles with the aid of all types of perception information. One typical and popular formation-keeping approach deployed in the cooperative path-following control for a fleet of AUVs is the leader–follower [6, 7]. With the aid of the leader states and the predetermined information, followers can track a reference path and complement the whole missions. Furthermore, in [8–10], multiple leaders have been proposed for cooperative control, where followers converge to the convex hull spanned by all leaders’ positions. Worth
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