Constrained Control of Autonomous Underwater Vehicles Based on Command Optimization and Disturbance Estimation

• Published in: IEEE transactions on industrial electronics (1982) Vol. 66; no. 5; pp. 3627 - 3635
• Main Authors: Peng, Zhouhua, Wang, Jiasen, Wang, Jun
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.05.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Autonomous underwater vehicles; Autonomous underwater vehicles (AUVs); command governor (CG); Computer simulation; Constraints; Control systems design; disturbance observer (DO); Disturbance observers; Environment models; Estimation; finite-time convergence; Governors; Kinetic theory; Military technology; Neurodynamics; Ocean currents; Ocean models; Oceans; one-layer recurrent neural network; Optimization; Parameter uncertainty; Parametric statistics; Quadratic programming; receding horizon optimization; Recurrent neural networks; Uncertainty

In this paper, a method is presented for antidisturbance constrained control of autonomous underwater vehicles subject to uncertainties and constraints. The uncertainties stem from uncertain hydrodynamic parameters, modeling errors, and unknown forces due to the ocean currents in an underwater envir...