Output Feedback Integrated Guidance and Control Design for Autonomous Underwater Vehicles Against Maneuvering Targets
Traditional guidance and control systems often treat guidance and control systems separately, leading to reduced interception accuracy and responsiveness, especially during high-speed terminal trajectories. These limitations are further exacerbated in autonomous underwater vehicles (AUVs) due to unk...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/10/3088 |
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| author | Rui Wang Jingwei Lu Shuke Lyu Yongtao Liu Yuchen Cui |
| author_facet | Rui Wang Jingwei Lu Shuke Lyu Yongtao Liu Yuchen Cui |
| author_sort | Rui Wang |
| collection | DOAJ |
| description | Traditional guidance and control systems often treat guidance and control systems separately, leading to reduced interception accuracy and responsiveness, especially during high-speed terminal trajectories. These limitations are further exacerbated in autonomous underwater vehicles (AUVs) due to unknown wave/current disturbances, harsh underwater acoustic conditions, and limited sensor capabilities. To address these challenges, this paper studies an integrated guidance and control (IGC) design for AUVs intercepting maneuvering targets with unknown disturbances and unmeasurable system states. The IGC model is derived based on the relative motion equations between the AUV and the target, incorporating the lateral dynamics of the AUV. A model transformation is introduced to synthesize external disturbances with unmeasurable states, extending the resultant disturbance to a new system state. A finite-time convergent extended state observer (ESO) is thus designed for the transformed system to estimate the unknown signals. Using these estimates from the observer, a finite-time event-triggered sliding mode controller is developed, ensuring finite-time convergence of system errors to an adjustable residual set, as rigorously proven through Lyapunov stability analysis. Simulation results demonstrate the superiority of the proposed method in achieving higher interception accuracy and faster response compared to traditional guidance and control approaches with unknown disturbances and unmeasurable states. |
| format | Article |
| id | doaj-art-4a02174d388b4b6f8d1bd0902b14b87c |
| institution | OA Journals |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-4a02174d388b4b6f8d1bd0902b14b87c2025-08-20T02:33:48ZengMDPI AGSensors1424-82202025-05-012510308810.3390/s25103088Output Feedback Integrated Guidance and Control Design for Autonomous Underwater Vehicles Against Maneuvering TargetsRui Wang0Jingwei Lu1Shuke Lyu2Yongtao Liu3Yuchen Cui4School of Emergency Equipment, North China Institute of Science and Technology, Beijing 101601, ChinaDepartment of Industrial Engineering, Tsinghua University, Beijing 100084, ChinaSchool of Emergency Equipment, North China Institute of Science and Technology, Beijing 101601, ChinaSchool of Information and Control Engineering, North China Institute of Science and Technology, Beijing 101601, ChinaSchool of Emergency Equipment, North China Institute of Science and Technology, Beijing 101601, ChinaTraditional guidance and control systems often treat guidance and control systems separately, leading to reduced interception accuracy and responsiveness, especially during high-speed terminal trajectories. These limitations are further exacerbated in autonomous underwater vehicles (AUVs) due to unknown wave/current disturbances, harsh underwater acoustic conditions, and limited sensor capabilities. To address these challenges, this paper studies an integrated guidance and control (IGC) design for AUVs intercepting maneuvering targets with unknown disturbances and unmeasurable system states. The IGC model is derived based on the relative motion equations between the AUV and the target, incorporating the lateral dynamics of the AUV. A model transformation is introduced to synthesize external disturbances with unmeasurable states, extending the resultant disturbance to a new system state. A finite-time convergent extended state observer (ESO) is thus designed for the transformed system to estimate the unknown signals. Using these estimates from the observer, a finite-time event-triggered sliding mode controller is developed, ensuring finite-time convergence of system errors to an adjustable residual set, as rigorously proven through Lyapunov stability analysis. Simulation results demonstrate the superiority of the proposed method in achieving higher interception accuracy and faster response compared to traditional guidance and control approaches with unknown disturbances and unmeasurable states.https://www.mdpi.com/1424-8220/25/10/3088integrated guidance and controlautonomous underwater vehiclesfinite-time extended state observersliding mode controlevent-triggered control |
| spellingShingle | Rui Wang Jingwei Lu Shuke Lyu Yongtao Liu Yuchen Cui Output Feedback Integrated Guidance and Control Design for Autonomous Underwater Vehicles Against Maneuvering Targets Sensors integrated guidance and control autonomous underwater vehicles finite-time extended state observer sliding mode control event-triggered control |
| title | Output Feedback Integrated Guidance and Control Design for Autonomous Underwater Vehicles Against Maneuvering Targets |
| title_full | Output Feedback Integrated Guidance and Control Design for Autonomous Underwater Vehicles Against Maneuvering Targets |
| title_fullStr | Output Feedback Integrated Guidance and Control Design for Autonomous Underwater Vehicles Against Maneuvering Targets |
| title_full_unstemmed | Output Feedback Integrated Guidance and Control Design for Autonomous Underwater Vehicles Against Maneuvering Targets |
| title_short | Output Feedback Integrated Guidance and Control Design for Autonomous Underwater Vehicles Against Maneuvering Targets |
| title_sort | output feedback integrated guidance and control design for autonomous underwater vehicles against maneuvering targets |
| topic | integrated guidance and control autonomous underwater vehicles finite-time extended state observer sliding mode control event-triggered control |
| url | https://www.mdpi.com/1424-8220/25/10/3088 |
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