Robust Self-Adjustable Path-Tracking Control for Autonomous Underwater Vehicle
- PDF / 576,129 Bytes
- 12 Pages / 595.276 x 790.866 pts Page_size
- 94 Downloads / 206 Views
Robust Self-Adjustable Path-Tracking Control for Autonomous Underwater Vehicle Nadia Zendehdel1 • Mehdi Gholami1
Received: 29 January 2020 / Revised: 14 May 2020 / Accepted: 10 August 2020 Taiwan Fuzzy Systems Association 2020
Abstract The purpose of this study is to design a supervisory two-level controller for an autonomous underwater vehicle path following problem despite the underwater uncertain operation conditions and external measurement noises. For the controller description, the surge degree of freedom dynamic model is linearized using feedback linearization technique and then a fuzzy PID tracking control law is sketched. To illustrate the robust tracking performance of the controller, the proposed control law is compared with a conventional PID controller. The results show improvement in the tracking error in the presence of noise and dynamic model parameter perturbation. The main reason behind the ability of the supervisory controller in handling the uncertainties is the auto-adjustment ability of PID gains when faced with real-time situations. Keywords Autonomous under-water vehicle Nonlinear system Fuzzy PID control Uncertainty Highlight 1.
2.
Achieve a motion PID control loop to guarantee the stability which avoids the difficult fine-tuning adjustment of weights and using an approximated linear model; The tracking feedback linearization method is applied to obtain a control law in such a way that (a) the feedback controller is also known as a PID controller without using the linearized model of the system; (b) avoids the lack of
& Nadia Zendehdel [email protected] 1
Faculty of Electrical and Computer Engineering, Department of Electrical Engineering, Quchan University of Technology, Quchan, Iran
3.
stability guarantee in feedback linearization method and the relying on the accuracy of the model coefficients and complete information about the state of AUV; Two-level control is developed with the special case where the first level is a combinatorial feedback linearization PID control and the second level direct fuzzy logic control adjusts the PID parameters as a supervisory controller. The proposed control aims to achieve a robust successive path tracking considering model nonlinearity, uncertainty, and disturbance and avoid the dependency on the observability of the environment and availability of the model information.
1 Introduction Marine resources and industries play an important role in the development of countries. So, there are some interesting research topics in marine engineering, biology, trade, and the military. Automated underwater vehicle (AUV) is an important unmanned submersible that enables researchers to study in the deep sea by tracking a path and performing operations such as mapping, identifying, and mining. So, the derivation of AUV parameters and stabilizing and path following control are vital issues. AUVs are dealing with multiple nonlinear environmental and complex motional forces. So, the dynamic model is highly nonlinear and time-varying. Furthermore, bec
Data Loading...
