This paper addresses the problem of three-dimensional (3D) path following control for underactuated autonomous underwater vehicles in the presence of parameter uncertainties and external disturbances. Firstly, 3D path following error model was established based on virtual guidance method. Then, an adaptive robust control system was proposed using backstepping and sliding mode control, and we adopt fuzzy logic theory to approximate unknown nonlinear function to solve the problems of nonlinearity, uncertainties and external disturbances in the path following. System stability was proved by Lyapunov stable theory. Finally, simulations were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances.

Three-Dimensional Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

Guidance and control methodologies for marine vehicles: A survey

Command filter based adaptive neural trajectory tracking control of an underactuated underwater vehicle in three-dimensional space

This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV) with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators.

https://journals.sagepub.com/doi/pdf/10.5772/64065

Path following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

Identification modeling of underwater vehicles' nonlinear dynamics based on support vector machines

Autonomous underwater vehicle(AUV), as a sophisticated system integration of artificial intelligence, underwater target detection and identification, data fusion, intelligent control, communication and navigation sub-systems, is an unmanned platform to carry out various civil and military missions in complex ocean environments. Owing to the expectation that AUV will be very promising in maritime research and ocean development and it also may find its way of application in the future underwater conflict for intelligence acquisition, accurate attack and “asymmetric intelligent acupunctural warfare”, AUV tech is an important and active field of RD,especially in the big powers of the world. State-of-the-art and main trend of development are presented based on our own (domestic) practice and experiences in related technical problems and suggestive proposals for probable way of solution to the problems are offered. The related areas are as follows: vehicle (carrier/platform) design, architecture, control, intelligent planning and decision making, AUV simulation and virtual reality, underwater target detection and identification, reliability and fault-tolerant techniques,etc. With the development of science and artificial intelligence, we'll see encouraging results in many enabling techniques for AUV. However, AUV technology is still in its stage of basic research, test and development, and there is still a long way to go for its full availability.

AUV—state-of-the-art and prospect

Motion control system architecture of underwater robot is presented, which includes hardware and software architecture. Considering the longitudinal velocity effects on the other dimensions of underwater robot, a nonlinear controller is presented. The stability is verified with Lyapunov function. In order to coordinate motions on different dimensions, a virtual sonar based guidance law is introduced which originates from the behavior of human beings. Finally, the reliability and feasibility of the motion control system are demonstrated by sea trial.

Motion Control System Architecture of Underwater Robot

An autonomous underwater vehicle (AUV) generally works in an unknown and complicated ocean environment, so it is essential for AUV to have the safe and reliable ability of autonomous obstacle avoidance An intelligent obstacle avoidance method for AUV is introduced The obstacle avoidance strategy based on the method can reflect the dynamic obstacle avoidance ability which combines local obstacle avoidance planning, motion control and hydrodynamic performance of underwater vehicle The alert safety distance of AUV is computed based on underwater vehicle velocity information and the model based on balance point of motion is constructed Considering the effects to the ability of obstacle avoidance of AUV, the velocity and energy information of AUV are introduced to obstacle avoidance strategy Finally, the feasibility of the obstacle avoiding methods is verified by simulation test

Obstacle avoidance of autonomous underwater vehicle based on improved balance of motion

Semi physical motion simulation system of underwater robot is established by combining physical simulation of control layer with virtual simulation of sensory and executive layer. Not only the software logic but also the hardware architecture, information interface and reliability can be verified with the semi physical motion simulation system. The hardware and software architecture of the simulation system are explained in detail. The virtual simulation of hydrodynamics, motion sensors and physical simulation of control layer are described. Finally, the long distance motion simulation and obstacle avoidance simulation experiments are conducted to demonstrate the importance of the system for the success of sea experiments.

Design of Semi Physical Motion Simulation System of Underwater Robot

Nonlinearity of underwater vehicles(UVs) and complexity of working environments make the precise control of AUVs difficult for some of the intelligent operations. Based on the analysis of fuzzy control and combined with the form of PID control, S plane control is a simple and effective method, but parameters must be manually set for its controller. Improved simulated annealing algorithm is introduced to S plane control method to optimize the controller's parameters automatically. The feasibility and advantages of the algorithm has been demonstrated by simulation results.

Sun Yushan

Papers

AUV—state-of-the-art and prospect

Motion Control System Architecture of Underwater Robot

Obstacle avoidance of autonomous underwater vehicle based on improved balance of motion

Design of Semi Physical Motion Simulation System of Underwater Robot

S plane control based on parameters optimization with simulated annealing for underwater vehicle