Barrier Lyapunov function based adaptive region tracking control for underwater vehicles with thruster saturation and dead zone |
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| Authors: | Xing Liu Mingjun Zhang Feng Yao Baoji Yin Junwei Chen |
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| Institution: | 1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;2. Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin 150001, China;3. School of Mechanical Engineering, Jiangsu University of Science and Technology, Jiangsu 212003, China;4. College of Mechanical and Electrical Engineering, Jiaxing University, Jiaxing 314001, China;1. School of Automation and Information Engineering, Xi’an University of Technology, China;2. Autonomous Systems and Intelligent Control International Joint Research Center, Xi’an Technological University, China;3. State Key Laboratory of Astronautic Dynamics, China;1. Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Ministry of Education, Shanghai 200237, China;2. Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai 200092, China;1. School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, PR China;2. College of Information Science and Engineering, Northeastern University, Shenyang 110819, PR China;3. Promotion China PH.D Program, BMW Brilliance Automotive Ltd., Shenyang, Liaoning 110143, PR China;1. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, 400044, China;2. College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, 400044, China;3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China;1. School of Energy and Power Engineering, Beijing University of Aeronautics and Astronautics, Beijing, 100191, China;2. School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China |
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| Abstract: | This paper proposes a new adaptive region tacking control scheme with nonlinear error transformation for underwater vehicles based on barrier Lyapunov functions. In the new scheme, a redefinition of the tracking error is given by introducing nonlinear error transformation in prescribed performance control. Although the results created by the new scheme indicate a slight decrease in the tracking precision, the real tracking error will be still kept within the prescribed performance functions, while the control signals also become smoother, compared with the original prescribed performance control scheme. Then an approximation form of the control input with constraints, together with an improved Nussbaum function, is designed to derive the control law for underwater vehicles with thruster saturation and dead zone. Furthermore, a new velocity error variable is given by introducing an auxiliary variable to compensate the effect from thruster saturation. Finally, it is proved that the nonlinear system is semi-global practical finite-time stable and the tracking error is always kept within the prescribed boundaries. The effectiveness of the proposed region tracking control scheme is validated through simulation-based case studies on an underwater vehicle with measurement noise. |
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