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...
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Published in | 2024 43rd Chinese Control Conference (CCC) pp. 3150 - 3155 |
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Main Authors | , , , , , , |
Format | Conference Proceeding |
Language | English |
Published |
Technical Committee on Control Theory, Chinese Association of Automation
28.07.2024
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Subjects | |
Online Access | Get full text |
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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. |
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ISSN: | 1934-1768 |
DOI: | 10.23919/CCC63176.2024.10662205 |