Hamiltonian based AUV navigation using finite-time trajectory tracking control

Authors

Jiankuo Cui, Ying Wang, Zheng Peng, Junhong Cui

Abstract

Autonomous underwater vehicles (AUVs) have become an important tool for marine scientific research, and their intelligent control technology has also received widespread attention. This paper proposes a finite-time asymptotic stabilization control scheme via the Hamiltonian method for 3D trajectory tracking of AUV with time-varying external disturbances. We can effectively avoid the drawback of approximate linearization by using orthogonal decomposition technology to transform the AUV trajectory tracking mathematical model into a port controlled Hamiltonian (PCH) model. In addition, we design a finite-time trajectory controller for AUVs using the Hamiltonian control theory. This can improve control accuracy by reducing the convergence time of the AUV trajectory tracking system and avoiding overshoot. The theoretical analysis proves the finite-time stability of the AUV 3D trajectory tracking closed-loop control system based on the finite-time Lyapunov stability theory, and the simulation results verify the effectiveness and superiority of the designed control law.

Citation

Journal: Proceedings of the 17th International Conference on Underwater Networks & Systems
Year: 2023
Volume:
Issue:
Pages: 1–5
Publisher: ACM
DOI: 10.1145/3631726.3631749

BibTeX

@inproceedings{Cui_2023,
  series={WUWNet 2023},
  title={{Hamiltonian based AUV navigation using finite-time trajectory tracking control}},
  DOI={10.1145/3631726.3631749},
  booktitle={{Proceedings of the 17th International Conference on Underwater Networks \&amp; Systems}},
  publisher={ACM},
  author={Cui, Jiankuo and Wang, Ying and Peng, Zheng and Cui, Junhong},
  year={2023},
  pages={1--5},
  collection={WUWNet 2023}
}

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