Robust Path-Following Control of Underactuated Marine Vehicles Using Gradient-Descent Fuzzy Estimation

• Type: Article in International Conference Proceedings Book
• Date: 2022

Authors

Nazmara, G (Author) Other; Aguiar, AP (Author) FEUP

Conference proceedings International

Title: CONTROLO 2022

Pages: 37-47

15th APCA International Conference on Automatic Control and Soft Computing (CONTROLO)

Caparica, PORTUGAL, JUL 06-08, 2022

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 37 Citations

Other information

Authenticus ID: P-00X-022

DOI: 10.1007/978-3-031-10047-5_4

Abstract (EN): This paper presents a robust path-following control strategy for underactuated autonomous underwater vehicles (AUVs) utilizing gradient descent fuzzy estimating in its structure. The proposed control scheme includes two control loops: the inner control that is responsible to track the velocity command signals, and the outer loop that controls the vehicle's path-following errors. Thanks to fuzzy estimators, uncertainties, including un-modelled dynamics, water current, and lateral velocities are explicitly addressed to make the control strategy robust to them. Using Lyapunov theory, we show exponential convergence of the tracking error to a neighborhood of the origin, and boundedness of the related signals. The efficiency of the proposed control approach is confirmed through computer simulation.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 11