Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs

S. Singh; A. Sanyal; R. Smith; N. Nordkvist; M. Chyba

doi:10.1115/OMAE2009-79486

Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs

S. Singh, A. Sanyal, R. Smith, N. Nordkvist, M. Chyba

Research output: Chapter in Book/Entry/Poem › Conference contribution

6 Scopus citations

Abstract

An autonomous underwater vehicle (AUV) is expected to operate in an ocean in the presence of poorly known disturbance forces and moments. The uncertainties of the environment makes it difficult to apply open-loop control scheme for the motion planning of the vehicle. The objective of this paper is to develop a robust feedback trajectory tracking control scheme for an AUV that can track a prescribed trajectory amidst such disturbances. We solve a general problem of feedback trajectory tracking of an AUV in SE(3). The feedback control scheme is derived using Lyapunov-type analysis. The results obtained from numerical simulations confirm the asymptotic tracking properties of the feedback control law. We apply the feedback control scheme to different mission scenarios, with the disturbances being initial errors in the state of the AUV.

Original language	English (US)
Title of host publication	Proceedings of the 28th International Conference on Ocean, Offshore and Arctic Engineering 2009, OMAE2009
Pages	345-351
Number of pages	7
Edition	PART A
DOIs	https://doi.org/10.1115/OMAE2009-79486
State	Published - 2009
Externally published	Yes
Event	28th International Conference on Ocean, Offshore and Arctic Engineering, OMAE2009 - Honolulu, HI, United States Duration: May 31 2009 → Jun 5 2009

Publication series

Name	Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
Number	PART A
Volume	4

Other

Other	28th International Conference on Ocean, Offshore and Arctic Engineering, OMAE2009
Country/Territory	United States
City	Honolulu, HI
Period	5/31/09 → 6/5/09

ASJC Scopus subject areas

Ocean Engineering
Energy Engineering and Power Technology
Mechanical Engineering

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10.1115/OMAE2009-79486

Cite this

Singh, S., Sanyal, A., Smith, R., Nordkvist, N., & Chyba, M. (2009). Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs. In Proceedings of the 28th International Conference on Ocean, Offshore and Arctic Engineering 2009, OMAE2009 (PART A ed., pp. 345-351). (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE; Vol. 4, No. PART A). https://doi.org/10.1115/OMAE2009-79486

Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs. / Singh, S.; Sanyal, A.; Smith, R. et al.
Proceedings of the 28th International Conference on Ocean, Offshore and Arctic Engineering 2009, OMAE2009. PART A. ed. 2009. p. 345-351 (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE; Vol. 4, No. PART A).

Research output: Chapter in Book/Entry/Poem › Conference contribution

Singh, S, Sanyal, A, Smith, R, Nordkvist, N & Chyba, M 2009, Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs. in Proceedings of the 28th International Conference on Ocean, Offshore and Arctic Engineering 2009, OMAE2009. PART A edn, Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE, no. PART A, vol. 4, pp. 345-351, 28th International Conference on Ocean, Offshore and Arctic Engineering, OMAE2009, Honolulu, HI, United States, 5/31/09. https://doi.org/10.1115/OMAE2009-79486

Singh S, Sanyal A, Smith R, Nordkvist N, Chyba M. Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs. In Proceedings of the 28th International Conference on Ocean, Offshore and Arctic Engineering 2009, OMAE2009. PART A ed. 2009. p. 345-351. (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE; PART A). doi: 10.1115/OMAE2009-79486

Singh, S. ; Sanyal, A. ; Smith, R. et al. / Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs. Proceedings of the 28th International Conference on Ocean, Offshore and Arctic Engineering 2009, OMAE2009. PART A. ed. 2009. pp. 345-351 (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE; PART A).

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abstract = "An autonomous underwater vehicle (AUV) is expected to operate in an ocean in the presence of poorly known disturbance forces and moments. The uncertainties of the environment makes it difficult to apply open-loop control scheme for the motion planning of the vehicle. The objective of this paper is to develop a robust feedback trajectory tracking control scheme for an AUV that can track a prescribed trajectory amidst such disturbances. We solve a general problem of feedback trajectory tracking of an AUV in SE(3). The feedback control scheme is derived using Lyapunov-type analysis. The results obtained from numerical simulations confirm the asymptotic tracking properties of the feedback control law. We apply the feedback control scheme to different mission scenarios, with the disturbances being initial errors in the state of the AUV.",

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Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs

Abstract

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