Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control

详细信息    查看全文

• 作者：Zhe-ping Yan 严浙巿/a> ; Hao-miao Yu 于浩浿/a> ; Ben-yin Li 李本鑿/a>
• 刊名：Journal of Central South University
• 出版年：2015
• 出版时间：November 2015
• 年：2015
• 卷：22
• 期：11
• 页码：4193-4204
• 全文大小：1,161 KB
• 参考文献：[1]CHEN Qiang. Unmanned underwater vehicle [M]. Beijing: National Defense Industry Press, 2014: 29–31. (in Chinese)
  [2]YUH J. Design and control of autonomous underwater robots: A survey [J]. Autonomous Robots, 2000, 8(1): 7–24.CrossRef
  [3]BROCKETT R W. Asymptotic stability and feedback stabilization [J]. Differential Geometric Control Theory, 1983, 27(1): 181–191.
  [4]POMET J B. Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift [J]. System and Control Letters, 1992, 18(2): 147–158.MathSciNet CrossRef MATH
  [5]FOSSEN T I. Handbook of marine craft hydrodynamics and motion control [M]. New York: John Wiley and Sons Ltd, 2011: 187–225.CrossRef
  [6]YAN Zhe-ping, YU Hao-miao, LI Ben-yin, ZHOU Jia-jia. Sliding mode trajectory tracking of underactuated UUV on dive plane [C]// Proceedings of the 33rd Chinese Control Conference. Nanjing, China, 2014: 7909–7914.
  [7]CACCIA M, BRUZZONE G, VERUGGIO G. Active sonar-based bottom-following for unmanned underwater vehicles [J]. Control Engineering Practice, 1999, 7(4): 459–468.CrossRef
  [8]PAULINO N, SILVESTRE C, CUNHA R, PASCOAL A. A bottom-following preview controller for autonomous underwater vehicles [C]// Proceedings of the 45th IEEE Conference on Decision & Control. San Diego, CA, USA, 2006: 715–720.CrossRef
  [9]SILVESTRE C, CUNHA R, PAULINO N, PASCOAL A. A bottom-following preview controller for autonomous underwater vehicles [J]. IEEE Transactions on Control Systems Technology, 2009, 17(2): 257–266.CrossRef
  [10]BIAN Xin-qian, ZHOU Jia-jia, JIA He-ming, ZHAO Xiao-yi. Adaptive neural network control system of bottom following for an underactuated AUV [C]// OCEANS 2010. Seattle, WA, USA: IEE, 2010: 1–6.
  [11]BIAN Xin-qian, CHENG Xiang-qin, JIA He-ming, YAN Zhe-ping, ZHANG Li-jun. A bottom-following controller for underactuated AUV based on iterative sliding and increment feedback [J]. Control and Decision, 2011, 26(2): 289–292, 296. (in Chinese)MathSciNet
  [12]DUAN Hai-qing, JIA He-ming, ZHOU Jia-jia, YANG Xin. Bottom following control for underactuated AUV based on neural network [J]. Journal of Southeast University, 2012, 42(9): 203–207. (in Chinese)MathSciNet
  [13]JIA He-ming, SONG Wen-long, ZHOU Jia-jia. Bottom following control for an underactuated AUV based on nonlinear backstepping method [J]. Journal of Beijing University of Technology, 2012, 38(12): 1780–1785. (in Chinese)MathSciNet
  [14]JIA He-ming, ZHANG Li-jun, BIAN Xin-qian, YAN Zhe-ping, CHENG Xiang-qin, ZHOU Jia-jia. A nonlinear bottom-following controller for underactuated autonomous underactuated vehicles [J]. Journal of Central South University, 2012, 19(5): 1240–1248.CrossRef
  [15]ARAS A M, MOHAMMAS J Y, AGUIAR A P. Automatic bottom-following for underwater robotic vehicles [J]. Automatica, 2014, 50(8): 2155–2162.MathSciNet CrossRef MATH
  [16]ZHANG Li-jun, QI Xue, PANG Yong-jie. Adaptive output feedback control based on DRFNN for AUV [J]. Ocean Engineering, 2009, 36 (9/10): 716–722.CrossRef
  [17]LAPIERRE L, SOETANTO D. Nonlinear path-following control of an AUV [J]. Ocean Engineering, 2007, 34(11): 1734–1744.CrossRef
  [18]LAPIERRE L, JOUVENCEL B. Robust nonlinear path-following control of an AUV [J]. IEEE Journal of Ocean Engineering, 2008, 33(2): 89–102.CrossRef
  [19]YAN Zhe-ping, CHI Dong-nan, HOU Shu-ping, ZHENG Ya-lin. Underwater environment SDAP method using multi single-beam sonars [J/OL]. Mathematical Problems in Engineering, 2013: 1–17.
  [20]YAN Zhe-ping, LIU Yi-bo, ZHOU Jia-jia, WU Di. Path following control of an AUV under the current using the SVR-ADRC [J/OL]. Journal of Applied Mathematics, 2014: 1–12.
  [21]LI Juan, GAO Hai-tao, ZHOU Jia-jia, YAN Zhe-ping. Dynamic surface and active disturbance rejection control for path following of an underactuated UUV [J/OL]. Journal of Applied Mathematics, 2014: 1–9.
  [22]XIANG Xian-bo. Research on path following and coordinated control for second-order nonholonomic AUVs [D]. Wuhan: Huazhong University of Science and Technology, 2010. (in Chinese)
  [23]UTKIN V I. Sliding mode control design principles and applications to electric drives [J]. IEEE Transactions on Industrial Electronics, 1993, 40(1): 23–36.CrossRef
  [24]ZAK M. Terminal attractors for addressable memory in neural networks [J]. Physics Letters A, 1988, 133(1/2): 18–22.CrossRef
  [25]VENKATARAMAN S T, GULATI S. Control of Nonlinear Systems Using Terminal Sliding Modes [C]// American Control Conference 1992. Chicago, IL, USA: IEEE, 1992: 891–893.
  [26]YANG Jun, LI Shi-hua, SU Jin-ya, YU Xing-huo. Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances [J]. Automatica, 2013, 49(7): 2287–2291.MathSciNet CrossRef
  [27]ZHANG Niao-na. Terminal sliding mode control theory and applications [M]. Beijing: Science Press, 2011: 1–15. (in Chinese)
  [28]KHOO S, XIE Li-Hua, MAN Zhi-hong. Integral terminal sliding mode cooperative control of multi-robot networks [C]// Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Singapore, 2009: 969–973.
  [29]CHIU Chian-Song. Derivative and integral terminal sliding mode control for a class of MIMO nonlinear systems [J]. Automatica, 2012, 48(2): 316–326.MathSciNet CrossRef MATH
  [30]YANG Jun, LI Shi-hua, YU Xing-huo. Sliding-mode control for systems with mismatched uncertainties via a disturbance observer [J]. IEEE Transactions on Industrial Electronics, 2013, 60(1): 160–169.CrossRef
  [31]YANG Jun, SU Jin-ya, LI Shi-hua, YU Xing-huo. High-order mismatched disturbance compensation for motion control systems via a continuous dynamic sliding-mode approach [J]. IEEE Transactions on Industrial Informatics, 2014, 10(1): 604–614.CrossRef
  [32]LICEAGA-CASTRO E, VAN DER MOLEN G M. Submarine H8 depth control under wave disturbances [J]. IEEE Transactions on Control Systems Technology, 1995, 3(3): 338–346.CrossRef
  [33]MOREIA L, SOARES C G. H 2 and H ∞ designs for diving and course control of an autonomous underwater vehicle in presence of waves [J]. IEEE Journal of Oceanic Engineering, 2008, 33(2): 69–88.CrossRef
  [34]HAN Jing-qing. Active disturbance rejection control technique-the technique for estimating and compensating the uncertainties [M]. Beijing: National Defense Industry Press, 2008: 46–72. (in Chinese)
  [35]HAN Jing-qing. From PID to active disturbance rejection control [J]. IEEE Transactions on Industrial Electronics, 2009, 56(3): 900–906.CrossRef
  [36]ZHAO Zhi-liang. Convergence of nonlinear active disturbance rejection control [D]. Hefei: University of Science and Technology of China, 2012. (in Chinese)
  [37]MARQUEZ H J. Nonlinear control systems analysis and design [M]. New Jersey: John Wiley and Sons Inc, 2003: 82–83.
  [38]PETTERSEN K Y, EGELAND O. Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle [J]. IEEE Transactions on Automatic Control, 1999, 44(1): 112–115.MathSciNet CrossRef MATH
  
• 作者单位：Zhe-ping Yan 严浙平 (1)
  Hao-miao Yu 于浩淼 (1)
  Ben-yin Li 李本银 (1)
  
  1. College of Automation, Harbin Engineering University, Harbin, 150001, China
  
• 刊物类别：Engineering
• 刊物主题：Engineering, general
  Metallic Materials
  Chinese Library of Science
  
• 出版者：Central South University, co-published with Springer
• ISSN：2227-5223

文摘

The bottom-following problem of an underactuated unmanned undersea vehicle (UUV) is addressed. A robust nonlinear controller is developed by using integral-terminal sliding mode control (ITSMC), which can exponentially drive an UUV onto a predefined path at a constant forward speed. The kinematic error equations are first derived in the Serret-Frenet frame. Using the line of sight (LOS) method, Lyapunov’s direct technique and tracking differentiator, the guidance law is established. Then, the kinematic controller, the guidance law, is expanded to cope with vehicle dynamics by resorting to introduce two integral-terminal sliding surfaces. Robustness to parameter perturbation is addressed by incorporating the reaching laws associated with the upper bound of the parameter perturbation. The proposed control law can guarantee that all error signals globally exponentially converge to the origin. Finally, a series of numerical simulation results are presented and discussed. In these simulations, wave, constant unknown ocean currents (for the purposes of the controller) and the parameter perturbation are added to illustrate the robustness and effectiveness of the bottom-following control scheme.