Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control
This paper presents a three-dimensional (3D) robust adaptive finite-time path-following controller for underactuated Autonomous Underwater Vehicles (AUVs), addressing model uncertainties, external disturbances, and actuator magnitude and rate saturations. A path-following error system is built in a...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/9/1/70 |
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| author | MohammadReza Ebrahimpour Mihai Lungu |
| author_facet | MohammadReza Ebrahimpour Mihai Lungu |
| author_sort | MohammadReza Ebrahimpour |
| collection | DOAJ |
| description | This paper presents a three-dimensional (3D) robust adaptive finite-time path-following controller for underactuated Autonomous Underwater Vehicles (AUVs), addressing model uncertainties, external disturbances, and actuator magnitude and rate saturations. A path-following error system is built in a path frame using the virtual guidance method. The proposed cascaded closed-loop control scheme can be described in two separate steps: (1) A kinematic law based on a finite-time backstepping control (FTBSC) is introduced to transform the 3D path-following position errors into the command velocities; (2) The actual control inputs are designed in the dynamic controller using an adaptive fixed-time disturbance observer (AFTDO)-based FTBSC to stabilize the velocity tracking errors. Moreover, the adverse effects of magnitude and rate saturations are reduced by an auxiliary compensation system. A Lyapunov-based stability analysis proves that the path-following errors converge to an arbitrarily small region around zero within a finite time. Comparative simulations illustrate the effectiveness and robustness of the proposed controller. |
| format | Article |
| id | doaj-art-1535216e0d9841228adb5994a12577ea |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-1535216e0d9841228adb5994a12577ea2025-01-24T13:29:52ZengMDPI AGDrones2504-446X2025-01-01917010.3390/drones9010070Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping ControlMohammadReza Ebrahimpour0Mihai Lungu1Faculty of Electrical and Computer Engineering, Tarbiat Modares University, Tehran 1411713116, IranFaculty of Electrical Engineering, University of Craiova, 200585 Craiova, RomaniaThis paper presents a three-dimensional (3D) robust adaptive finite-time path-following controller for underactuated Autonomous Underwater Vehicles (AUVs), addressing model uncertainties, external disturbances, and actuator magnitude and rate saturations. A path-following error system is built in a path frame using the virtual guidance method. The proposed cascaded closed-loop control scheme can be described in two separate steps: (1) A kinematic law based on a finite-time backstepping control (FTBSC) is introduced to transform the 3D path-following position errors into the command velocities; (2) The actual control inputs are designed in the dynamic controller using an adaptive fixed-time disturbance observer (AFTDO)-based FTBSC to stabilize the velocity tracking errors. Moreover, the adverse effects of magnitude and rate saturations are reduced by an auxiliary compensation system. A Lyapunov-based stability analysis proves that the path-following errors converge to an arbitrarily small region around zero within a finite time. Comparative simulations illustrate the effectiveness and robustness of the proposed controller.https://www.mdpi.com/2504-446X/9/1/70path-followingbackstepping controlsliding mode controldisturbance observerfinite-time controlfixed-time control |
| spellingShingle | MohammadReza Ebrahimpour Mihai Lungu Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control Drones path-following backstepping control sliding mode control disturbance observer finite-time control fixed-time control |
| title | Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control |
| title_full | Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control |
| title_fullStr | Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control |
| title_full_unstemmed | Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control |
| title_short | Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control |
| title_sort | finite time path following control of underactuated auvs with actuator limits using disturbance observer based backstepping control |
| topic | path-following backstepping control sliding mode control disturbance observer finite-time control fixed-time control |
| url | https://www.mdpi.com/2504-446X/9/1/70 |
| work_keys_str_mv | AT mohammadrezaebrahimpour finitetimepathfollowingcontrolofunderactuatedauvswithactuatorlimitsusingdisturbanceobserverbasedbacksteppingcontrol AT mihailungu finitetimepathfollowingcontrolofunderactuatedauvswithactuatorlimitsusingdisturbanceobserverbasedbacksteppingcontrol |