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Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer.

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This study presents a robust finite-time control scheme for underactuated autonomous underwater vehicles (AUVs) navigating ocean currents. The proposed method effectively addresses disturbances, ensuring precise 3D path following.

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3D path followingbackstepping methodocean currents disturbancesuper-twisting observerunderactuated AUV

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Area of Science:

  • Robotics
  • Control Systems
  • Ocean Engineering

Background:

  • Autonomous underwater vehicles (AUVs) face challenges in 3D path following due to underactuation and ocean current disturbances.
  • Existing control methods often struggle with the complexities of dynamic environmental factors and potential control signal degradation.

Purpose of the Study:

  • To develop a robust finite-time control scheme for underactuated AUVs.
  • To effectively mitigate the impact of ocean current disturbances on 3D path following.
  • To enhance the stability and tracking accuracy of AUVs in challenging marine environments.

Main Methods:

  • Established the motion equation for AUVs under ocean current disturbances.
  • Constructed a dynamic model of 3D tracking error using a virtual guidance method.
  • Proposed a finite-time control scheme incorporating a super-twisting observer and command filtered backstepping.
  • Utilized Lyapunov stability theory to rigorously prove system stability.

Main Results:

  • The super-twisting observer accurately estimated ocean current disturbances, enhancing system robustness.
  • Command filtered backstepping successfully avoided the differential expansion problem inherent in traditional backstepping.
  • Filter compensation and anti-integration saturation mechanisms ensured signal accuracy and accounted for integral saturation.
  • Simulation studies validated the controller's effectiveness and robustness in achieving 3D path following.

Conclusions:

  • The proposed finite-time control scheme offers a robust solution for 3D path following in underactuated AUVs subject to ocean currents.
  • The integration of super-twisting observers and command filtered backstepping provides significant advantages in disturbance rejection and control signal integrity.
  • The controller demonstrates high effectiveness and robustness, paving the way for more reliable AUV operations in complex oceanic conditions.