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http://dx.doi.org/10.1016/j.ijnaoe.2021.08.003

Robust singular perturbation control for 3D path following of underactuated AUVs  

Lei, Ming (Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University)
Li, Ye (Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University)
Pang, Shuo (Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University)
Publication Information
International Journal of Naval Architecture and Ocean Engineering / v.13, no.1, 2021 , pp. 758-771 More about this Journal
Abstract
This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.
Keywords
Autonomous underwater vehicle; Path following; Singular perturbations; Control design; Stability analysis;
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