Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle

OCEAN ENGINEERING

卷:146

Article

Yu, Caoyang¹  Xiang, Xianbo¹  Lapierre, Lionel²  Zhang, Qin³ 

[1] Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, 1037 Luoyu Rd, Wuhan 430074, Hubei, Peoples R China

[2] CNRS LIRMM UMII, UMR CC 477 5506, Dept Robot, 161 Rue Ada, F-34392 Montpellier 5, France

[3] Huazhong Univ Sci & Technol, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Hubei, Peoples R China

关键词: Autonomous underwater vehicles;    Path following;    Guidance and control;    Nonlinear fuzzy control;    Sensitivity analysis;   

DOI  :  10.1016/j.oceaneng.2017.10.001

来源: Elsevier

【 摘 要 】

This paper proposes a simplified nonlinear fuzzy controller integrating an improved three-dimensional (3D) guidance law, in order to address the problem of path following for an underactuated autonomous underwater vehicle (AUV) exposed to unknown environmental disturbances. First, an improved 3D line-of-sight guidance law that makes full use of the essentially equivalent coordinate transformation is derived to transform 3D path following position errors into controlled guidance speeds, which also reduces the path following system form second-order to first-order. The side-slip angle and angle of attack are integrated into 3D guidance design to account for the underactuated configuration in sway and heave. Second, a nonlinear single-input fuzzy controller is designed to reduce computation complexity resulting from square rules in a double-input fuzzy controller, and to force the steerable speeds of an AUV to attain their guidance profiles. Subsequently, sensitivity analysis is adopted to suggest that the nonlinear fuzzy design with the convergent distribution and small slope for the single input have better robustness against unknown disturbances than the linear design. Finally, numerical examples with quantitative comparison are provided to illustrate the performance of the nonlinear single-input fuzzy controller for 3D path following of an underactuated AUV exposed to unknown environmental disturbances.

【 授权许可】

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