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/Report/Conference proceedingConference contribution

4 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 languageEnglish (US)
Title of host publicationProceedings of the 28th International Conference on Ocean, Offshore and Arctic Engineering 2009, OMAE2009
Pages345-351
Number of pages7
EditionPART A
DOIs
StatePublished - Dec 1 2009
Externally publishedYes
Event28th International Conference on Ocean, Offshore and Arctic Engineering, OMAE2009 - Honolulu, HI, United States
Duration: May 31 2009Jun 5 2009

Publication series

NameProceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
NumberPART A
Volume4

Other

Other28th International Conference on Ocean, Offshore and Arctic Engineering, OMAE2009
CountryUnited States
CityHonolulu, HI
Period5/31/096/5/09

ASJC Scopus subject areas

  • Ocean Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering

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    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