Robust stabilization of an AUV within pre-specified finite-time

This study addresses the robust stabilization control of an autonomous underwater vehicle(AUV) within pre-specified finite-time. The AUV is represented as a solid body submerged in fluid. Due to hydrodynamic interaction, the AUV's system encounters uncertain inherent dynamics, encompassing gyro...

Full description

Saved in:
Bibliographic Details
Published in2024 43rd Chinese Control Conference (CCC) pp. 3150 - 3155
Main Authors Niu, Hongjiao, Wei, Yixiong, Zhen, Tao, Wang, Haiping, Peng, Xiuhui, Wang, Qi, Yan, Xufei
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 28.07.2024
Subjects
Damping
damping injecting
Hydrodynamics
Potential energy
potential energy shaping
pre-specified finite-time control
Robust control
robust stabilization
Solids
time rescaling method
Transforms
Uncertainty
Online AccessGet full text

Cover

More Information
Summary:This study addresses the robust stabilization control of an autonomous underwater vehicle(AUV) within pre-specified finite-time. The AUV is represented as a solid body submerged in fluid. Due to hydrodynamic interaction, the AUV's system encounters uncertain inherent dynamics, encompassing gyroscopic forces and physical damping. Employing direct compensation of the system's inherent dynamics, a common approach in control design, proves ineffective for AUVs affected by uncertainties. Therefore, a robust control technique that does not rely on compensating unknown dynamics is explored. Firstly, a time rescaling technique is introduced to transform pre-specified finite-time stabilization into asymptotic stabilization. Subsequently, a PD controller designed through potential energy shaping and damping injection is proposed to achieve exponential stabilization of the time rescaling system. An artificial potential energy defined on the AUV's configuration space \operatorname{SE}(3) (a Special Euclidean group) is introduced, utilizing its gradient as the proportional control component. Injected damping leads to asymptotically stabilization, which serves as the differential control term. Finally, the pre-specified finite-time controller is proposed by the time rescaling method, which also enhances robustness against uncertain dynamics in the system. Numerical simulations are conducted to validate the obtained results.
ISSN:1934-1768
DOI:10.23919/CCC63176.2024.10662205