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Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects

Mai The Vu1, Tat-Hien Le2,3, Ha Le Nhu Ngoc Thanh4

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Summary
This summary is machine-generated.

This study presents a robust dynamic positioning control for over-actuated autonomous underwater vehicles (AUVs). The proposed system, using dynamic sliding mode control and quadratic programming, enhances stability and reduces errors in challenging ocean currents.

Keywords:
dynamic sliding mode controllerleast-squares methodposition controlquadratic programmingunderwater vehicle

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Area of Science:

  • Robotics and Control Systems
  • Ocean Engineering
  • Autonomous Underwater Vehicles (AUVs)

Background:

  • Autonomous underwater vehicles (AUVs) face significant challenges maintaining static positions due to ocean currents, propulsion, and un-modeled disturbances.
  • Designing robust control systems for permanent static positioning of AUVs in dynamic marine environments is complex.

Purpose of the Study:

  • To develop and evaluate a nonlinear dynamics and robust positioning control system for over-actuated AUVs.
  • To address the effects of ocean currents and model uncertainties on AUV positioning.
  • To compare the effectiveness of least square (LS) and quadratic programming (QP) methods for thruster allocation.

Main Methods:

  • Established a motion equation for the over-actuated AUV considering ocean current disturbances.
  • Implemented a trajectory generation for the heading angle using the line-of-sight (LOS) algorithm.
  • Developed a dynamic positioning (DP) control system incorporating motion control via dynamic sliding mode control (DSMC) and allocation control using LS and QP methods.
  • Proved system stability using Lyapunov criteria.

Main Results:

  • The proposed DP controller demonstrated effectiveness and robustness in simulation studies.
  • The quadratic programming (QP) algorithm within the DP controller resulted in superior performance compared to the least square (LS) method.
  • The QP-based DP controller achieved higher stability and exhibited smaller steady-state errors and stronger robustness against disturbances.

Conclusions:

  • The developed dynamic positioning control system, particularly using the QP allocation method, is effective for over-actuated AUVs in challenging ocean environments.
  • The DSMC-based motion control enhances robustness against ocean currents and model uncertainties.
  • The study confirms the viability of the proposed control strategy for achieving reliable AUV station-keeping.