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The aim of this paper is to develop a fuzzy iterative sliding mode control (FISMC) scheme for special autonomous underwater vehicles (AUVs) on three-dimensional (3D) path following. In this paper, the characteristics of the AUV are considered, which include a large scale, large inertia, and high speed. The FISMC controller designs iterative sliding...
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Citations
... Reference [16] used a continuous function instead of a sign function to reduce chattering, but the approach speed could not be adjusted according to the system state. Therefore, based on the continuous function, the reference [17] used fuzzy control to adjust the approach parameters in the approach law according to the cross-track error of the path following, so as to select the appropriate approach speed. In [18], adaptive estimates of the upper bound of the interference were added to the gain of the continuous function to adjust the reaching law. ...
... (1) Compared with the adaptive LOS (ALOS) and ALOS with proportional guidance law (APLOS) methods proposed in [5], the proposed FLOS method does not need to limit the maximum and minimum values of the look-ahead distance, and the amplitude of the look-ahead distance changing with the three factors is small, which makes the AUV converge to the following path smoothly and reduces the error of following. (2) Compared with [13][14][15][16][17][18], the proposed FSMC suppresses sliding mode chattering by designing a new control law based on the characteristics of the sliding surface and Lyapunov stability theory, rather than by adjusting the approach law. This method does not require consideration of the upper and lower bounds of uncertain parameters, nor does it introduce chattering issues caused by the sign function. ...
... According to (17), the state equation can be expressed as: ...
To improve the path-following performance of autonomous underwater vehicles (AUVs) under ocean currents, a control method based on line-of-sight with fuzzy controller (FLOS) guidance and the fuzzy sliding mode controller (FSMC) is proposed. This method considers multiple factors affecting guidance and adaptively determines the optimal heading angle through the fuzzy controller to enhance guidance capability. Additionally, a novel FSMC based on Lyapunov stability theory is designed to suppress the influence of model uncertainty and external disturbances on the control system. Simulations and experiments of the proposed control method demonstrate that it can maintain precise tracking under disturbances, improving path-following performance metrics by more than 15%.
... The illustration highlights the practical utility of the suggested fuzzy-based risk assessment approach for planned under-ice (AUV) deployments by bringing attention to the relevance of the approach in question. To operate specialized (AUVs) through a three-dimensional (3D) path following the system, we need to [46] created the fuzzy immune sliding mode controller (FISMC) system. The enormous size, lightning-fast speed, and considerable inertia of the AUV are all factors that are taken into account. ...
... In this paper, a new composite curve path following controller is proposed for an underactuated AUV, based on nonlinear iterative sliding mode (NISM) controller [16] and AILOS guidance. e main contributions are summarized as follows: ...
... e values of the look-ahead distance Δ and the heading control parameter k p have obvious influence on the control effect and can also be adjusted automatically. Relevant methods can be found in [3,16]. ...
This paper addresses the problem of composite curve path following for an underactuated autonomous underwater vehicle by utilizing an adaptive integral line-of-sight (AILOS) guidance and nonlinear iterative sliding mode (NISM) controller. First, the composite curve path is parametrized by a common scalar variable in a continuous way. Then, the kinematics error of an underactuated vehicle is described based on the nonprojection Frenet–Serret frame with a virtual point, which can be eliminated by the virtual point control and AILOS guidance. Meanwhile, the subpath switching algorithm is studied to realize the global path following for the composite curve path. Besides, the NISM controller is cascaded with the AILOS guidance law, and the cascade structure proved to be globally κ-exponentially stable under the influence of slow time-varying currents. Finally, simulations are considered to demonstrate the effectiveness of the proposed composite curve path following control scheme.
... AUV is an essential tool for human beings to expand cognition and explore the world under the sea. It can operate autonomously in the place where human beings cannot reach [2] and has a very profound value of research [3][4][5][6][7] and application [8]. e circumstances of underwater are not set in stone. ...
... e main contributions of this paper can be summarized as follows. First, the modified APF method is developed to 2 Mathematical Problems in Engineering address the inherent problems: a distance correction factor is added to the repulsive potential field function to solve the GNRON problem; the regular hexagon-guided (RHG) method is combined with the traditional APF method to address the local minima problem. If the AUV trapped in a local minimum region, the system can construct a virtual regular hexagon helping it get out of the difficult position. ...
With the topics related to the intelligent AUV, control and navigation have become one of the key researching fields. This paper presents a concise and reliable path planning method for AUV based on the improved APF method. AUV can make the decision on obstacle avoidance in terms of the state of itself and the motion of obstacles. The artificial potential field (APF) method has been widely applied in static real-time path planning. In this study, we present the improved APF method to solve some inherent shortcomings, such as the local minima and the inaccessibility of the target. A distance correction factor is added to the repulsive potential field function to solve the GNRON problem. The regular hexagon-guided method is proposed to improve the local minima problem. Meanwhile, the relative velocity method about the moving objects detection and avoidance is proposed for the dynamic environment. This method considers not only the spatial location but also the magnitude and direction of the velocity of the moving objects, which can avoid dynamic obstacles in time. So the proposed path planning method is suitable for both static and dynamic environments. The virtual environment has been built, and the emulation has been in progress in MATLAB. Simulation results show that the proposed method has promising feasibility and efficiency in the AUV real-time path planning. We demonstrate the performance of the proposed method in the real environment. Experimental results show that the proposed method is capable of avoiding the obstacles efficiently and finding an optimized path.
... Також для усунення перерегулювань сповільнено динаміку вертикального ступеня рухливості ЗІ порівняно з маршовим та лаговим. Таким чином, ураховуючи обмеження min(K m ) >> 1, обрано наступні значення коефіцієнтів масштабування постійних значень часу внутрішнього регулятора в ЗІ: K m = [4,10,4,12,12,12] На початку перехідного процесу САК входить до режиму насичення, в якому маршовий та лаговий ступені рухливості сповільнені відносно вертикального. Найшвидше задачу керування САК відпрацьовує за курсом. ...
... Також для усунення перерегулювань сповільнено динаміку вертикального ступеня рухливості ЗІ порівняно з маршовим та лаговим. Таким чином, ураховуючи обмеження min(K m ) >> 1, обрано наступні значення коефіцієнтів масштабування постійних значень часу внутрішнього регулятора в ЗІ: K m = [4,10,4,12,12,12] На початку перехідного процесу САК входить до режиму насичення, в якому маршовий та лаговий ступені рухливості сповільнені відносно вертикального. Найшвидше задачу керування САК відпрацьовує за курсом. ...
... Також для усунення перерегулювань сповільнено динаміку вертикального ступеня рухливості ЗІ порівняно з маршовим та лаговим. Таким чином, ураховуючи обмеження min(K m ) >> 1, обрано наступні значення коефіцієнтів масштабування постійних значень часу внутрішнього регулятора в ЗІ: K m = [4,10,4,12,12,12] На початку перехідного процесу САК входить до режиму насичення, в якому маршовий та лаговий ступені рухливості сповільнені відносно вертикального. Найшвидше задачу керування САК відпрацьовує за курсом. ...
This paper investigates the three-dimensional (3-D) path following control problem for an under-actuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established, followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-of-sight (LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity, intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.
