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A Path-Following Controller for Marine Vehicles Using a Two-Scale Inner-Outer Loop Approach.

Pramod Maurya1, Helio Mitio Morishita2, Antonio Pascoal3

  • 1CSIR-National Institute of Oceanography, Dona Paula 403004, Goa, India.

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|June 10, 2022
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Summary
This summary is machine-generated.

This study introduces an inner-outer loop control strategy for marine vehicle path following in currents. This method simplifies controller tuning and ensures stability for various vehicles like AUVs and ASVs.

Keywords:
ASVsAUVsinner-outer loop controlinput-to-output stabilitypath following

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Ocean Engineering

Background:

  • Marine vehicles face challenges in maintaining straight-line paths due to unpredictable currents.
  • Existing path-following controllers often require precise vehicle dynamics knowledge, limiting their applicability.
  • Heterogeneous marine vehicles, including Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASVs), necessitate adaptable control strategies.

Purpose of the Study:

  • To develop and evaluate an inner-outer loop control strategy for robust straight-line path following of marine vehicles in the presence of currents.
  • To decouple the design of inner and outer control loops, simplifying controller tuning and implementation.
  • To provide a controller structure that does not require exact knowledge of vehicle dynamics, enhancing applicability across different marine platforms.

Main Methods:

  • Utilized a nonlinear control theory approach, characterizing cascade and feedback systems using Input-to-State (IOS) properties.
  • Employed an inner-outer loop control structure with a fast-slow temporal scale separation for simplified controller tuning.
  • Applied the IOS small-gain theorem to derive quantitative relationships for assessing the stability of the combined control system.

Main Results:

  • The inner-outer loop control strategy effectively decouples control loop design, simplifying implementation.
  • The controller's structure accommodates systems with unknown vehicle dynamics, relying on an IOS-like relationship for heading control.
  • Quantitative stability assessment relationships were derived, validated through real-world tests on AUVs and an ASV.

Conclusions:

  • The proposed inner-outer loop control strategy offers a practical and effective solution for marine vehicle path following in currents.
  • The method's ability to handle unknown vehicle dynamics and its simplified tuning rules make it suitable for a wide range of marine vehicles.
  • Real-world testing confirmed the efficacy and stability of the developed path-following control structure for autonomous marine systems.