Adaptive passivity-based control of an autonomous underwater vehicle

被引：5

作者：

Khalaji, Ali Keymasi ^{[1
]}

Haghjoo, Monem ^{[1
]}

机构：

[1] Kharazmi Univ, Fac Engn, Dept Mech Engn, 43 South Mofatteh Ave, Tehran 1571914911, Iran

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2022年 / 236卷 / 20期

关键词：

autonomous underwater vehicle; adaptive control; robust control; trajectory tracking; passivity-based algorithm; computed torque control; SLIDING-MODE CONTROLLER; TRACKING CONTROL; UNCERTAINTIES; SYSTEMS;

D O I：

10.1177/09544062221103818

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

An Autonomous Underwater Vehicle (AUV) is a nonlinear nonholonomic dynamical system. Tracking control of AUVs in the presence of disturbances and uncertainties is a challenging problem. In this paper, an adaptive passivity-based algorithm is proposed for tracking control of an AUV. Also, a disturbance estimator has been used to attenuate the effects of unknown disturbances. A proper adaptive rule is designed to estimate unknown parameters and disturbances. The stability of the proposed method is analyzed using passivity properties and the Lyapunov theory. Obtained comparative results show the advantages of the proposed Adaptive Computed Torque Method ACTM plus disturbance estimator.

引用

页码：10563 / 10572

页数：10

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