Path-Following Control of Autonomous Underwater Vehicles Subject to Velocity and Input Constraints via Neurodynamic Optimization

• Published in: IEEE transactions on industrial electronics (1982) Vol. 66; no. 11; pp. 8724 - 8732
• Main Authors: Peng, Zhouhua, Wang, Jun, Han, Qing-Long
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Autonomous underwater vehicles; Autonomous underwater vehicles (AUVs); Bridge construction; Computer simulation; Constraints; Control theory; Design optimization; Disturbances; extended state observer (ESO); input and state constraints; Kinematics; Kinetic theory; Neural networks; neurodynamic optimization; Neurodynamics; Observers; Optimization; path following; State observers; Surges
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2018.2885726

In this paper, a design method is presented for path-following control of underactuated autonomous underwater vehicles subject to velocity and input constraints, as well as internal and external disturbances. In the guidance loop, a kinematic control law of the desired surge speed and pitch rate is derived based on a backstepping technique and a line-of-sight guidance principle. In the control loop, an extended state observer is developed to estimate the extended state composed of unknown internal dynamics and external disturbances. Then, a disturbance rejection control law is constructed using the extended state observer. To bridge the guidance loop and the control loop, a reference governor is proposed for computing optimal guidance signals within the velocity and input constraints. The reference governor is formulated as a quadratically constrained optimization problem. A projection neural network is employed for solving the optimization problem in real time. Simulation results illustrate the effectiveness of the proposed method for path-following control of autonomous underwater vehicles subject to constraints and disturbances simultaneously in the vertical plane.