Adaptive Cooperative Diving of Saucer-Type Underwater Gliders Subject to Model Uncertainties and Input Constraints

• Published in: IEEE access Vol. 7; pp. 60042 - 60054
• Main Authors: Wang, Haoliang, Wang, Dan, Wang, Tianlin, Zhang, Yibo, Gu, Nan
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptation models; Adaptive control; Adaptive systems; autonomous underwater gliders; Constraint modelling; Cooperative control; Cooperative diving; Diving; Feedback control; Gliders; input constraints; Kinetic theory; line-of-sight; low-frequency learning; Mathematical model; Modular design; Oceans; Robust control; Stability analysis; Synchronism; Uncertainty; Underwater vehicles
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2019.2915160

This paper is concerned with the cooperative diving problem of homogenous under-actuated saucer-type autonomous underwater gliders subject to model uncertainties, input constraints as well as external disturbances. A modular back-stepping design method is used to design a robust adaptive cooperative diving controller for each glider. Especially, a kinematic control law is at first designed by employing a line-of-sight guidance principle, and a path variable update law is developed based on a synchronization strategy. Next, in order to identify the unknown dynamics of gliders, an estimation model is constructed by using a fuzzy approximation technique and a low-frequency learning scheme. Finally, it is proved that the closed-loop system is input-to-state stable by using a cascade stability analysis. The simulation results are given to demonstrate the effectiveness of the proposed method for cooperative diving of autonomous underwater gliders in a vertical plane.