Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV
This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2014/714079 |
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| _version_ | 1832552197938741248 |
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| author | Juan Li Haitao Gao Jiajia Zhou Zheping Yan |
| author_facet | Juan Li Haitao Gao Jiajia Zhou Zheping Yan |
| author_sort | Juan Li |
| collection | DOAJ |
| description | This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance rejection control (DS-ADRC) to solve the path following control problem. This controller can effectively avoid the phenomenon of explosion of terms in the conventional backstepping method, reduce the dependence on the UUV controller mathematical model, and enhance the antijamming ability. Simulation is carried out to verify the effectiveness of the proposed control method for an underactuated UUV. The results show that, even for this controller with disturbance, the cross-track error of UUV is gradually converged to zero and has some certain robustness. |
| format | Article |
| id | doaj-art-fc6434e7eed147028cef741ad1c5a7db |
| institution | Kabale University |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-fc6434e7eed147028cef741ad1c5a7db2025-02-03T05:59:20ZengWileyJournal of Applied Mathematics1110-757X1687-00422014-01-01201410.1155/2014/714079714079Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUVJuan Li0Haitao Gao1Jiajia Zhou2Zheping Yan3College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaThis paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance rejection control (DS-ADRC) to solve the path following control problem. This controller can effectively avoid the phenomenon of explosion of terms in the conventional backstepping method, reduce the dependence on the UUV controller mathematical model, and enhance the antijamming ability. Simulation is carried out to verify the effectiveness of the proposed control method for an underactuated UUV. The results show that, even for this controller with disturbance, the cross-track error of UUV is gradually converged to zero and has some certain robustness.http://dx.doi.org/10.1155/2014/714079 |
| spellingShingle | Juan Li Haitao Gao Jiajia Zhou Zheping Yan Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV Journal of Applied Mathematics |
| title | Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV |
| title_full | Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV |
| title_fullStr | Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV |
| title_full_unstemmed | Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV |
| title_short | Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV |
| title_sort | dynamic surface and active disturbance rejection control for path following of an underactuated uuv |
| url | http://dx.doi.org/10.1155/2014/714079 |
| work_keys_str_mv | AT juanli dynamicsurfaceandactivedisturbancerejectioncontrolforpathfollowingofanunderactuateduuv AT haitaogao dynamicsurfaceandactivedisturbancerejectioncontrolforpathfollowingofanunderactuateduuv AT jiajiazhou dynamicsurfaceandactivedisturbancerejectioncontrolforpathfollowingofanunderactuateduuv AT zhepingyan dynamicsurfaceandactivedisturbancerejectioncontrolforpathfollowingofanunderactuateduuv |