Adaptive tracking control of underactuated AUV with historical navigation information and piecewise weighted fractional order integration

• Published in: Chinese journal of physics (Taipei) Vol. 91; pp. 600 - 611
• Main Authors: Liu, Lu, Zhu, Boyu, Zhang, Shuo, Zhang, Xiaomeng, Sun, Shouang, Zhang, Lichuan, Pan, Guang, Yang, Qi, Han, Guangyao
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.10.2024
• Subjects: Adaptive weights; Autonomous underwater vehicle (AUV); Fractional order; Stability; Tracking control; Autonomous underwater vehicle (AUV); Fractional order; Stability; Tracking control; Adaptive weights
• ISSN: 0577-9073
• DOI: 10.1016/j.cjph.2024.06.019

In this study, a piecewise adaptive weighted fractional order integration (PAWFOI) is introduced in cascade-backstepping control, which improves the effectiveness of autonomous underwater vehicles (AUVs) in suppressing navigation errors during long-duration operations. Additionally, PAWFOI significantly reduces the computational complexity compared to conventional fractional order integration, ensuring a consistent computational speed. The adaptive weight selector dynamically adjusts the weights based on the AUV state information, achieving enhanced tracking performance. Based on Lyapunov’s theory, the results demonstrated that AUV tracking control can be achieved by selecting appropriate control parameters. Finally, an example is presented to verify the correctness and validity of the theoretical results. •A piecewise adaptive weighted fractional order integration is used in AUV control.•PAWFOI can significantly reduce computational complexity within a consistent speed.•An adaptive weight adjuster is designed to modify weights and control performance.