Bearing-Based Robust Formation Tracking Control of Underactuated AUVs With Optimal Parameter Tuning

Area of Science:

• Robotics
• Control Systems
• Ocean Engineering

Background:

• Autonomous Underwater Vehicles (AUVs) require sophisticated control for coordinated tasks.
• Formation tracking is crucial for AUVs but challenging due to underactuation and environmental factors.

Purpose of the Study:

• To develop a robust bearing-based formation tracking control strategy for underactuated AUVs.
• To address actuator constraints and unknown environmental disturbances.
• To optimize control parameters for enhanced performance and feasibility.

Main Methods:

• A leader-follower AUV structure with an integrated control strategy.
• Utilizing a reference velocity estimator, virtual velocity generation, and an adaptive robust controller.
• Employing control parameterization and heuristic algorithms for parameter tuning.

Main Results:

• Asymptotic convergence of system errors was proven using cascade system theory, even with unknown disturbances.
• The parameter tuning method optimized controller gains for constraint feasibility and performance optimality.
• Achieved convergence, robustness, feasibility, and optimality in formation tracking.

Conclusions:

• The proposed integrated strategy effectively addresses the control challenges in bearing-based formation tracking for underactuated AUVs.
• The method demonstrates robustness against disturbances and ensures optimal performance within actuator constraints.
• The strategy is extendable to 3D AUV motion with sideslip, validated by simulations.