Waypoint-tracking Control of a Benthic AUV Based on Model-free Adaptive Control Method
In this study, the model-free adaptive control(MFAC) method was applied to a waypoint-tracking control system to solve the problems of high uncertainty in the marine environment and difficulty in accurately determining the benthic autonomous undersea vehicle(AUV) model parameters. Moreover, an impro...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Science Press (China)
2022-08-01
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| Series: | 水下无人系统学报 |
| Subjects: | |
| Online Access: | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.202109021 |
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| Summary: | In this study, the model-free adaptive control(MFAC) method was applied to a waypoint-tracking control system to solve the problems of high uncertainty in the marine environment and difficulty in accurately determining the benthic autonomous undersea vehicle(AUV) model parameters. Moreover, an improved MFAC course controller was designed and the boundedness of the course control error was verified to solve the problems of a slow convergence rate and low tracking accuracy during course control due to the integral additive effect of the traditional MFAC method. Subsequently, a hyperbolic tangent speed adjustment strategy was proposed to solve the problem whereby the course control overshoot of the AUV is large at the waypoint switch when the closed line of sight(LOS) guidance algorithm is applied to waypoint-tracking control. And this strategy can significantly promote the smooth transition of the AUV at the waypoint switch and improve the convergence speed of the tracking error. Finally, an outfield test of the course control and waypoint-tracking control of the benthic AUV was conducted to verify the effectiveness and superiority of the proposed algorithm. |
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| ISSN: | 2096-3920 |