Hamiltonian based AUV navigation using adaptive finite-time trajectory tracking control

Authors

Jiankuo Cui, Mengxue Hou, Zheng Peng, Ying Wang, Jun-Hong Cui

Abstract

Autonomous underwater vehicles (AUVs) are essential to the exploration and utilization of oceanic environments. The development of trajectory tracking control technology has become critical for ensuring precise navigation and efficient task execution by AUVs in marine settings. This paper introduces an adaptive finite-time asymptotic stabilization control method, employing the Hamiltonian approach for AUV trajectory tracking. This method is designed to effectively address time-varying external disturbances and variations in model parameters. By utilizing orthogonal decomposition techniques, the mathematical model for AUV trajectory tracking is transformed into a port-controlled Hamiltonian (PCH) model. Additionally, Hamiltonian control theory is applied to formulate an adaptive finite-time trajectory controller specifically tailored for AUVs. Theoretical analysis, grounded in Lyapunov stability theory, substantiates the adaptive finite-time stability of the closed-loop control system for AUV trajectory tracking. Furthermore, simulation results confirm the efficacy and superiority of the proposed control method, demonstrating reduced tracking errors and accelerated convergence rates in comparison to infinite-time techniques.

Keywords

auv, finite-time, hamiltonian, trajectory tracking

Citation

• Journal: Ocean Engineering
• Year: 2025
• Volume: 320
• Issue:
• Pages: 120329
• Publisher: Elsevier BV
• DOI: 10.1016/j.oceaneng.2025.120329

BibTeX

@article{Cui_2025,
  title={{Hamiltonian based AUV navigation using adaptive finite-time trajectory tracking control}},
  volume={320},
  ISSN={0029-8018},
  DOI={10.1016/j.oceaneng.2025.120329},
  journal={Ocean Engineering},
  publisher={Elsevier BV},
  author={Cui, Jiankuo and Hou, Mengxue and Peng, Zheng and Wang, Ying and Cui, Jun-Hong},
  year={2025},
  pages={120329}
}

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