Waypoint-tracking Control of a Benthic AUV Based on Model-free Adaptive Control Method

GAO Peng; WAN Lei; XU Yu-fei; CHEN Guo-fang; ZHANG Zi-yang

doi:10.11993/j.issn.2096-3920.202109021

Volume 30 Issue 4

Sep 2022

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Article Navigation > Journal of Unmanned Undersea Systems > 2022 > 30(4): 429-440

GAO Peng, WAN Lei, XU Yu-fei, CHEN Guo-fang, ZHANG Zi-yang. Waypoint-tracking Control of a Benthic AUV Based on Model-free Adaptive Control Method[J]. Journal of Unmanned Undersea Systems, 2022, 30(4): 429-440. doi: 10.11993/j.issn.2096-3920.202109021

Citation:

GAO Peng, WAN Lei, XU Yu-fei, CHEN Guo-fang, ZHANG Zi-yang. Waypoint-tracking Control of a Benthic AUV Based on Model-free Adaptive Control Method[J]. Journal of Unmanned Undersea Systems, 2022, 30(4): 429-440. doi: 10.11993/j.issn.2096-3920.202109021

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Waypoint-tracking Control of a Benthic AUV Based on Model-free Adaptive Control Method

doi: 10.11993/j.issn.2096-3920.202109021

Laboratory of Underwater Vehicle Technology, School of Shipbuilding, Harbin Engineering University, Harbin 150001, China

Received Date: 2021-09-30
Accepted Date: 2021-11-15
Rev Recd Date: 2021-10-26

Available Online: 2022-06-27

Abstract

Abstract

In this study, the model-free adaptive control(MFAC) method was applied to a waypoint-tracking control system to solve the problems of high uncertainty in the marine environment and difficulty in accurately determining the benthic autonomous undersea vehicle(AUV) model parameters. Moreover, an improved MFAC course controller was designed and the boundedness of the course control error was verified to solve the problems of a slow convergence rate and low tracking accuracy during course control due to the integral additive effect of the traditional MFAC method. Subsequently, a hyperbolic tangent speed adjustment strategy was proposed to solve the problem whereby the course control overshoot of the AUV is large at the waypoint switch when the closed line of sight(LOS) guidance algorithm is applied to waypoint-tracking control. And this strategy can significantly promote the smooth transition of the AUV at the waypoint switch and improve the convergence speed of the tracking error. Finally, an outfield test of the course control and waypoint-tracking control of the benthic AUV was conducted to verify the effectiveness and superiority of the proposed algorithm.
- benthic autonomous undersea vehicle,
- model-free adaptive control,
- line of sight guidance

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References(19)

References

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