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Technical Briefs

A New Tracking Controller Design for Underwater Vehicles Using Quadratic Stabilization

[+] Author and Article Information
R. Prasanth Kumar

School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju 660 701, Republic of Korearprasanthkumar@gmail.com

Anirvan Dasgupta1

Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur 721 302, Indiaanir@mech.iitkgp.ernet.in

C. S. Kumar

Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur 721 302, Indiakumar@mech.iitkgp.ernet.in

1

Corresponding author.

J. Dyn. Sys., Meas., Control 130(2), 024502 (Feb 29, 2008) (6 pages) doi:10.1115/1.2837451 History: Received July 14, 2006; Revised August 09, 2007; Published February 29, 2008

This paper proposes a new tracking controller for autonomous underwater vehicles (AUVs) using the concept of simultaneous quadratic stabilization. The nonlinear underwater vehicle system is viewed as a set of locally linear time invariant systems obtained by linearizing the system equations on the reference trajectory about some discrete points. A single stabilizing controller is then designed for the set of systems so obtained. However, this controller requires the exact parameters of the system. Since the hydrodynamic parameters of AUVs are generally not known with sufficient accuracy, the proposed controller is used for the known part of the dynamics and an adaptation algorithm is used to estimate the unknown parameters online and compensate for the rest of the plant dynamics. The proposed controller can thus adaptively handle the complete nonlinear uncertain dynamics of the plant. Simulation results are presented and discussed for a typical AUV.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

Inertial and body-coordinate frames

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Figure 2

Thruster locations on the vehicle

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Figure 3

Reference and actual trajectories

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Figure 4

Structure of underwater vehicle control systems

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Figure 5

Position and attitude tracking error: ⋯ for Γ=0, --- for Γ=2×103I, and — for Γ=5×103I. (a) Error in x versus time. (b) Error in y versus time. (c) Error in z versus time. (d) Error in ϕ versus time. (e) Error in θ versus time. (f) Error in ψ versus time.

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Figure 6

Position and attitude tracking error with nonzero initial error: ⋯ for Γ=0, --- for Γ=2×103I, and — for Γ=5×103I. (a) Error in x versus time. (b) Error in y versus time. (c) Error in z versus time. (d) Error in ϕ versus time. (e) Error in θ versus time. (f) Error in ψ versus time.

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