Robust Seabed Terrain Following Control of Underactuated AUV with Prescribed Performance Guidance Law Under Time Delay of Actuator

• Published in: Shànghăi jiāotōng dàxué xuébào Vol. 56; no. 7; pp. 944 - 952
• Main Author: LI Jinjiang, XIANG Xianbo, LIU Chuan, YANG Shaolong
• Format: Journal Article
• Language: Chinese
• Published: Editorial Office of Journal of Shanghai Jiao Tong University 01.07.2022
• Subjects: autonomous underwater vehicle (auv); prescribed performance guidance; robust control; seabed terrain following; time delay of actuator
• ISSN: 1006-2467
• DOI: 10.16183/j.cnki.jsjtu.2021.375

To address the uneven seabed following control problem under the time delay constraint of the actuator for the autonomous underwater vehicle (AUV), a robust time-delay controller with prescribed performance guidance law is proposed in this paper, which can improve the safety of the AUV during navigation. First, the seabed following error conversion is firstly performed based on a navigational safety barrier function. Then, by integrating the time-varying line-of-sight guidance angle, the prescribed performance guidance law is designed at the kinematics level to provide reference state input for the AUV. After that, to tackle the time delay problem of actuators and reduce demand for accurate modeling, a robust time-delay dynamic controller is designed using the radial basis function (RBF) neural network. Finally, based on the Lyapunov theory, the stability of the closed-loop system is proved. The simulation results illustrate that the designed controller can achieve uneven seabed following control. Moreover, t