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Robust trajectory tracking control for underactuated autonomous underwater vehicles
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-8696-1536
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2019 (English)In: Proceedings 2019 IEEE Conference on Decision and Control (CDC), 2019Conference paper, Published paper (Other academic)
Abstract [en]

Motion control of underwater robotic vehicles isa demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for the underwater robotics community. In that sense, this paper addresses the tracking control problem of 3D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. In particular, a robust Nonlinear Model Predictive Control (NMPC) scheme is presented for the case of underactuated Autonomous Underwater Vehicles (AUVs) (i.e., vehicles actuated only in surge, heave and yaw). The purpose of the controller is to steer the underactuated AUV to a desired trajectory with guaranteed input and state constraints inside a partially known and dynamic environment where the knowledge of the operating workspace is constantly updated on–line via the vehicle’s on–board sensors. In particular, by considering a ball which covers the volume oft he system, obstacle avoidance with any of the detected obstacles is guaranteed, despite the model dynamic uncertainties and the presence of external disturbances representing ocean currents and waves. The proposed feedback control law consists of two parts: an online law which is the outcome of a Finite Horizon Optimal Control Problem (FHOCP) solved for the nominal dynamics; and a state feedback law which is tuned off-line and guarantees that the real trajectories remain bounded in a hyper-tube centered along the nominal trajectories for all times. Finally, a simulation study verifies the performance and efficiency of the proposed approach.

Place, publisher, year, edition, pages
2019.
Series
IEEE Proceedings: Conference on Decision and Control (CDC)
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-264985OAI: oai:DiVA.org:kth-264985DiVA, id: diva2:1376346
Conference
58th Conference on Decision and Control, Nice, France, December 11th-13th 2019
Note

QC 20191210

Available from: 2019-12-09 Created: 2019-12-09 Last updated: 2019-12-10Bibliographically approved

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fulltext(1380 kB)6 downloads
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Heshmati Alamdari, ShahabNikou, AlexandrosDimarogonas, Dimos V.
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CiteExportLink to record
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