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Safe Robust Adaptive Motion Control for Underactuated Marine Robots.

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  • 1SYSTEC, ARISE, and Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal.

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Summary
This summary is machine-generated.

This study introduces a safe adaptive backstepping control for underactuated marine robots, enhancing robustness against uncertainties using simple sensors and a fuzzy system. The method ensures practical finite-time stability for safer underwater navigation.

Keywords:
backstepping controlfinite-time stabilityfunnel controlfuzzy systemsmarine robots

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Ocean Engineering

Background:

  • Underactuated marine robots operate in uncertain oceanic environments, necessitating robust and safe control systems.
  • Existing control strategies often struggle to guarantee safety and robustness against diverse uncertainties.
  • Adaptive backstepping control offers a promising framework for addressing these challenges.

Purpose of the Study:

  • To design a safe adaptive backstepping control system for underactuated marine robots.
  • To enhance the robustness of the control system against kinematic and dynamic uncertainties.
  • To ensure practical finite-time stability for reliable operation in uncertain environments.

Main Methods:

  • Development of an adaptive backstepping control strategy incorporating a fuzzy system for uncertainty compensation.
  • Definition of a funnel surface and a nonlinear sliding surface for enhanced safety and tracking.
  • Application of Lyapunov theory to formally prove Semi-globally Practically Finite-time Stability.

Main Results:

  • The proposed control system demonstrates robustness at both kinematic and dynamic levels.
  • Integration of a simple fuzzy system effectively compensates for system uncertainties.
  • Simulations on underactuated marine robots validate the finite-time stability and safety of the control design.

Conclusions:

  • The innovative safe adaptive backstepping control system provides a robust solution for underactuated marine robots.
  • The use of simple sensors and a fuzzy system enhances practicality and efficiency.
  • The formally proven stability ensures reliable performance in challenging oceanic conditions.