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5 June 2024 Trajectory tracking control for autonomous underwater vehicle (AUV) with uncertainties
Gaoyuan Wang, Shaobin Chen, Wenchao Huang
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Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 1316380 (2024) https://doi.org/10.1117/12.3030648
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China
Abstract
This paper focused on the trajectory tracking control problem of multi-AUVs system. Combining the consensus theory with pinning control to design the control protocol for AUV influenced by the communication delay, uncertain state information and the external disturbance. The consensus control is used to discuss the coordinate problem with time delay and external disturbance. The cost of the communication is reduced by the pinning control. The trajectory tracking control protocol considered each follower communicated with the neighboring, estimated the external disturbance and uncertain accelerate information of leader. At least one follower could obtain the position and velocity information from the leader. The efficiency of the control protocol is proved by the numerical simulations.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Gaoyuan Wang, Shaobin Chen, and Wenchao Huang "Trajectory tracking control for autonomous underwater vehicle (AUV) with uncertainties", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 1316380 (5 June 2024); https://doi.org/10.1117/12.3030648
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KEYWORDS
Control systems
Autonomous vehicles
Mathematical modeling
Numerical simulations
Robots
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