A Fuzzy Logic-based Cascade Control without Actuator Saturation for the Unmanned Underwater Vehicle Trajectory Tracking

@article{Zhu2022AFL,
  title={A Fuzzy Logic-based Cascade Control without Actuator Saturation for the Unmanned Underwater Vehicle Trajectory Tracking},
  author={Da-feng Zhu and Simon X. Yang and Mohammad Biglarbegian},
  journal={Journal of Intelligent \& Robotic Systems},
  year={2022},
  volume={106}
}
An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: for the kinematic modeling part, a fuzzy logic-refined backstepping control is developed to achieve control velocities within acceptable ranges and errors of small fluctuations; on the basis of the velocities deducted by the improved kinematic control, the sliding mode control… 

References

SHOWING 1-10 OF 51 REFERENCES

Backstepping Control Method for the Trajectory Tracking for the Underactuated Autonomous Underwater Vehicle

The underactuated autonomous underwater vehicles (AUV) have the characteristics of strong nonlinearity and model uncertainty. A method of backstepping path following control was raised for the

Trajectory Tracking Control of an Autonomous Underwater Vehicle Using Lyapunov-Based Model Predictive Control

A novel Lyapunov-based model predictive control (LMPC) framework is developed for the AUV to utilize computational resource (online optimization) to improve the trajectory tracking performance.

Dynamic Motion Backstepping Control of Underwater Autonomous Vehicle Based on Averaged Sub-gradient Integral Sliding Mode Method

The aim of this study is to develop robust guidance laws for the control motion of an underwater autonomous vehicle (UAV) in a three-dimensional (3D) space. The control design is based on the use of

Design of Dynamic Control on Underwater Vehicle

Considering the effects in the gravity, buoyancy, thrust and hydrodynamic on the underwater vehicle, based on the perspective of the dynamic control, established a relatively complete dynamic model

Neural network adaptive position tracking control of underactuated autonomous surface vehicle

The backstepping method, neural network, dynamic surface control and the sliding mode method are employed to design an adaptive robust controller that improves the adaptation and the tracking performance of the underactuated autonomous surface vehicle.

Trajectory Tracking Control for Autonomous Underwater Vehicles Based on Fuzzy Re-Planning of a Local Desired Trajectory

A novel trajectory tracking control strategy is developed based on fuzzy re-planning of a local desired trajectory for autonomous underwater vehicles whose initial starting position differs substantially from that specified by the desired trajectory.

Trajectory Tracking Control of Underwater Vehicle-Manipulator Systems Using Uncertainty and Disturbance Estimator

The term including parametric uncertainty and external disturbance is estimated using uncertainty and disturbance estimator (UDE) and incorporated into a sliding mode control (SMC) method to compensate the uncertainties in hydrodynamic parameters of the vehicle and reject the external disturbance.

Trajectory Tracking and Obstacle Avoidance Control of Unmanned Underwater Vehicles Based on MPC

A model prediction and sliding mode cascaded control algorithm for UUV trajectory tracking is proposed and can effectively solve the speed jump and thruster saturation problem, and realize the smooth and stable trajectory tracking and obstacle avoidance control.

Finite-Time Formation Control of Under-Actuated Ships Using Nonlinear Sliding Mode Control

A novel nonlinear sliding mode control approach dealing with the formation control of under-actuated ships is presented and a distributed controller is designed for individual under-Actuated ship to achieve the given formation pattern within a finite time.
...