Hybrid coordinated trajectory tracking control for AUVs via multi-objective quantum-behaved PSO
Authors
Pei Zhou, Haonan Chen, Yun Chen, Jianjun Bai, Yunfei Guo
Abstract
Not available
Citation
- Journal: International Journal of Systems Science
- Year: 2026
- Volume:
- Issue:
- Pages: 1–18
- Publisher: Informa UK Limited
- DOI: 10.1080/00207721.2026.2634194
BibTeX
@article{Zhou_2026,
title={{Hybrid coordinated trajectory tracking control for AUVs via multi-objective quantum-behaved PSO}},
ISSN={1464-5319},
DOI={10.1080/00207721.2026.2634194},
journal={International Journal of Systems Science},
publisher={Informa UK Limited},
author={Zhou, Pei and Chen, Haonan and Chen, Yun and Bai, Jianjun and Guo, Yunfei},
year={2026},
pages={1--18}
}References
- Ajeil FH, Ibraheem IK, Sahib MA, Humaidi AJ (2020) Multi-objective path planning of an autonomous mobile robot using hybrid PSO-MFB optimization algorithm. Applied Soft Computing 89:106076. https://doi.org/10.1016/j.asoc.2020.10607 – 10.1016/j.asoc.2020.106076
- Alam K, Ray T, Anavatti SG (2014) Design and construction of an autonomous underwater vehicle. Neurocomputing 142:16–29. https://doi.org/10.1016/j.neucom.2013.12.05 – 10.1016/j.neucom.2013.12.055
- Bai J, Yang Z, Li Z, Shen C, Chen Y, Li J (2024) Trajectory tracking controller design for wheeled Mobile robot with velocity and torque constraints. International Journal of Systems Science 55(14):2825–2837. https://doi.org/10.1080/00207721.2024.235484 – 10.1080/00207721.2024.2354844
- Bhatia AS, Saggi MK, Zheng S (2020) QPSO-CD: quantum-behaved particle swarm optimization algorithm with Cauchy distribution. Quantum Inf Process 19(10). https://doi.org/10.1007/s11128-020-02842- – 10.1007/s11128-020-02842-y
- Chen B, Hu J, Zhao Y, Ghosh BK (2022) Finite-time observer based tracking control of uncertain heterogeneous underwater vehicles using adaptive sliding mode approach. Neurocomputing 481:322–332. https://doi.org/10.1016/j.neucom.2022.01.03 – 10.1016/j.neucom.2022.01.038
- Chen H, Zhou P, Yang R, Chen Y (2025) Trajectory tracking control by PCH method for AUVs with input saturations. International Journal of Systems Science 56(14):3512–3527. https://doi.org/10.1080/00207721.2025.247040 – 10.1080/00207721.2025.2470406
- Cui R, Zhang X, Cui D (2016) Adaptive sliding-mode attitude control for autonomous underwater vehicles with input nonlinearities. Ocean Engineering 123:45–54. https://doi.org/10.1016/j.oceaneng.2016.06.04 – 10.1016/j.oceaneng.2016.06.041
- Do KD (2015) Robust adaptive tracking control of underactuated ODINs under stochastic sea loads. Robotics and Autonomous Systems 72:152–163. https://doi.org/10.1016/j.robot.2015.05.00 – 10.1016/j.robot.2015.05.007
- Donaire A, Romero JG, Perez T (2017) Trajectory tracking passivity-based control for marine vehicles subject to disturbances. Journal of the Franklin Institute 354(5):2167–2182. https://doi.org/10.1016/j.jfranklin.2017.01.01 – 10.1016/j.jfranklin.2017.01.012
- Fang K, Fang H, Zhang J, Yao J, Li J (2021) Neural adaptive output feedback tracking control of underactuated AUVs. Ocean Engineering 234:109211. https://doi.org/10.1016/j.oceaneng.2021.10921 – 10.1016/j.oceaneng.2021.109211
- Feng K, Li K, Li Y (2023) Finite-time fuzzy adaptive formation tracking control for USVs with multiple constraints and unknown dead zones. International Journal of Systems Science 55(4):631–643. https://doi.org/10.1080/00207721.2023.229348 – 10.1080/00207721.2023.2293483
- Fossen TI (2011) Handbook of Marine Craft Hydrodynamics and Motion Contro – 10.1002/9781119994138
- Grotti E, Mizushima DM, Backes AD, de Freitas Awruch MD, Gomes HM (2020) A novel multi-objective quantum particle swarm algorithm for suspension optimization. Comp Appl Math 39(2). https://doi.org/10.1007/s40314-020-1131- – 10.1007/s40314-020-1131-y
- Guerrero J, Chemori A, Torres J, Creuze V (2023) Time-delay high-order sliding mode control for trajectory tracking of autonomous underwater vehicles under disturbances. Ocean Engineering 268:113375. https://doi.org/10.1016/j.oceaneng.2022.11337 – 10.1016/j.oceaneng.2022.113375
- Guo X, Yan W, Cui R (2017) Neural network-based nonlinear sliding-mode control for an AUV without velocity measurements. International Journal of Control 92(3):677–692. https://doi.org/10.1080/00207179.2017.136666 – 10.1080/00207179.2017.1366669
- Hou Y-Y, Lin A-P, Huang B-W, Chen C-Y, Lin M-H, Saberi-Nik H (2023) On the dynamical behaviors in fractional-order complex PMSM system and Hamilton energy control. Nonlinear Dyn 112(3):1861–1881. https://doi.org/10.1007/s11071-023-09117- – 10.1007/s11071-023-09117-y
- Jia Z, Qiao L, Zhang W (2020) Adaptive tracking control of unmanned underwater vehicles with compensation for external perturbations and uncertainties using Port-Hamiltonian theory. Ocean Engineering 209:107402. https://doi.org/10.1016/j.oceaneng.2020.10740 – 10.1016/j.oceaneng.2020.107402
- Karimi A, Akbari H, Mousavi S, Beheshtipour Z (2023) Design of an adaptive terminal sliding mode to control the PMSM chaos phenomenon. Systems Science & Control Engineering 11(1). https://doi.org/10.1080/21642583.2023.220759 – 10.1080/21642583.2023.2207593
- Karkoub M, Wu H-M, Hwang C-L (2017) Nonlinear trajectory-tracking control of an autonomous underwater vehicle. Ocean Engineering 145:188–198. https://doi.org/10.1016/j.oceaneng.2017.08.02 – 10.1016/j.oceaneng.2017.08.025
- Khadhraoui A, Beji L, Otmane S, Abichou A (2016) Stabilizing control and human scale simulation of a submarine ROV navigation. Ocean Engineering 114:66–78. https://doi.org/10.1016/j.oceaneng.2015.12.05 – 10.1016/j.oceaneng.2015.12.054
- Kim M, Joe H, Kim J, Yu S (2015) Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances. International Journal of Control 88(10):2055–2065. https://doi.org/10.1080/00207179.2015.103118 – 10.1080/00207179.2015.1031182
- Lalwani S., A comprehensive survey: Applications of multi-objective particle swarm optimization (MOPSO) algorithm. Transactions on Combinatorics (2013)
- Li J, Zhang G, Jiang C, Zhang W (2023) A survey of maritime unmanned search system: Theory, applications and future directions. Ocean Engineering 285:115359. https://doi.org/10.1016/j.oceaneng.2023.11535 – 10.1016/j.oceaneng.2023.115359
- Li Z, You K, Song S (2018) AUV Based Source Seeking with Estimated Gradients. J Syst Sci Complex 31(1):262–275. https://doi.org/10.1007/s11424-018-7373- – 10.1007/s11424-018-7373-8
- Liang X, Zhang Z, Qu X, Li Y, Zhang R (2020) 3D trajectory tracking control of an underactuated AUV based on adaptive neural network dynamic surface. IJVD 84(1/2/3/4):203. https://doi.org/10.1504/ijvd.2020.11586 – 10.1504/ijvd.2020.115864
- (2024). Journal of Field Robotics 4 – 10.1002/rob.v41.4
- Liu F, Liu W, Luo H (2023) Operational stability control of a buried pipeline maintenance robot using an improved PSO-PID controller. Tunnelling and Underground Space Technology 138:105178. https://doi.org/10.1016/j.tust.2023.10517 – 10.1016/j.tust.2023.105178
- Liu W, Wang Z, Zeng N, Alsaadi FE, Liu X (2021) A PSO-based deep learning approach to classifying patients from emergency departments. Int J Mach Learn & Cyber 12(7):1939–1948. https://doi.org/10.1007/s13042-021-01285- – 10.1007/s13042-021-01285-w
- Lv C, Yu H, Chi J, Xu T, Zang H, Jiang H lue, Zhang Z (2019) A hybrid coordination controller for speed and heading control of underactuated unmanned surface vehicles system. Ocean Engineering 176:222–230. https://doi.org/10.1016/j.oceaneng.2019.02.00 – 10.1016/j.oceaneng.2019.02.007
- Nageshrao SP, Lopes GAD, Jeltsema D, Babuska R (2016) Port-Hamiltonian Systems in Adaptive and Learning Control: A Survey. IEEE Trans Automat Contr 61(5):1223–1238. https://doi.org/10.1109/tac.2015.245849 – 10.1109/tac.2015.2458491
- Nicholson JW, Healey AJ (2008) The Present State of Autonomous Underwater Vehicle (AUV) Applications and Technologies. mar technol soc j 42(1):44–51. https://doi.org/10.4031/00253320878686127 – 10.4031/002533208786861272
- Ortega R, van der Schaft A, Maschke B, Escobar G (2002) Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38(4):585–596. https://doi.org/10.1016/s0005-1098(01)00278- – 10.1016/s0005-1098(01)00278-3
- Saoudi K, Bdirina K, Guesmi K (2024) Robust estimation and control of uncertain affine nonlinear systems using predictive sliding mode control and sliding mode observer. International Journal of Systems Science 55(7):1480–1492. https://doi.org/10.1080/00207721.2024.230619 – 10.1080/00207721.2024.2306193
- Song B, Wang Z, Zou L (2021) An improved PSO algorithm for smooth path planning of mobile robots using continuous high-degree Bezier curve. Applied Soft Computing 100:106960. https://doi.org/10.1016/j.asoc.2020.10696 – 10.1016/j.asoc.2020.106960
- Wang A, Jia X, Dong S (2013) A New Exponential Reaching Law of Sliding Mode Control to Improve Performance of Permanent Magnet Synchronous Motor. IEEE Trans Magn 49(5):2409–2412. https://doi.org/10.1109/tmag.2013.224066 – 10.1109/tmag.2013.2240666
- Wang G, Yang Y, Wang S (2020) Ocean thermal energy application technologies for unmanned underwater vehicles: A comprehensive review. Applied Energy 278:115752. https://doi.org/10.1016/j.apenergy.2020.11575 – 10.1016/j.apenergy.2020.115752
- Wang W, Wang M (2024) Adaptive Neural Event-Triggered Output-Feedback Optimal Tracking Control for Discrete-Time Pure-Feedback Nonlinear Systems. IJNDI 3(2). https://doi.org/10.53941/ijndi.2024.10001 – 10.53941/ijndi.2024.100010
- Wang X, Xu B, Guo Y (2022) Fuzzy Logic System-Based Robust Adaptive Control of AUV with Target Tracking. Int J Fuzzy Syst 25(1):338–346. https://doi.org/10.1007/s40815-022-01356- – 10.1007/s40815-022-01356-2
- Wang Y, Shen C, Huang J, Chen H (2024) Model-free adaptive control for unmanned surface vessels: a literature review. Systems Science & Control Engineering 12(1). https://doi.org/10.1080/21642583.2024.231617 – 10.1080/21642583.2024.2316170
- Wang Y, Zhang M, Wilson PA, Liu X (2015) Adaptive neural network-based backstepping fault tolerant control for underwater vehicles with thruster fault. Ocean Engineering 110:15–24. https://doi.org/10.1016/j.oceaneng.2015.09.03 – 10.1016/j.oceaneng.2015.09.035
- Wynn RB, Huvenne VAI, Le Bas TP, Murton BJ, Connelly DP, Bett BJ, Ruhl HA, Morris KJ, Peakall J, Parsons DR, Sumner EJ, Darby SE, Dorrell RM, Hunt JE (2014) Autonomous Underwater Vehicles (AUVs): Their past, present and future contributions to the advancement of marine geoscience. Marine Geology 352:451–468. https://doi.org/10.1016/j.margeo.2014.03.01 – 10.1016/j.margeo.2014.03.012
- Xu L, Cao M, Song B (2022) A new approach to smooth path planning of mobile robot based on quartic Bezier transition curve and improved PSO algorithm. Neurocomputing 473:98–106. https://doi.org/10.1016/j.neucom.2021.12.01 – 10.1016/j.neucom.2021.12.016
- Yang X, Yan J, Chen C, Hua C, Guan X (2024) Adaptive Asymptotic Tracking Control for Underactuated Autonomous Underwater Vehicles With State Constraints. IEEE Trans Intell Transport Syst 25(11):18485–18500. https://doi.org/10.1109/tits.2024.342935 – 10.1109/tits.2024.3429358
- Yu G, He F, Liu H (2024) Fuzzy neural network adaptive AUV control based on FTHGO. Ships and Offshore Structures 20(1):13–25. https://doi.org/10.1080/17445302.2024.233131 – 10.1080/17445302.2024.2331311
- Yuan M, Qian W (2024) Adaptive Output Feedback Tracking Control for Nonlinear Systems with Unknown Growth Rate. IJNDI 3(1). https://doi.org/10.53941/ijndi.2024.10000 – 10.53941/ijndi.2024.100002
- Zhang C, Zou W, Ma L, Cheng N (2024) Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot. Nonlinear Analysis: Hybrid Systems 53:101496. https://doi.org/10.1016/j.nahs.2024.10149 – 10.1016/j.nahs.2024.101496
- Zhang Z, Wu Y (2021) Adaptive Fuzzy Tracking Control of Autonomous Underwater Vehicles With Output Constraints. IEEE Trans Fuzzy Syst 29(5):1311–1319. https://doi.org/10.1109/tfuzz.2020.296729 – 10.1109/tfuzz.2020.2967294
- Zong G, Wang Y, Niu B, Su S-F, Shi K (2025) Event-Triggered Adaptive NN Tracking Control for Nonlinear Systems With Asymmetric Time-Varying Output Constraints and Application to an AUVs. IEEE Trans Veh Technol 74(1):413–424. https://doi.org/10.1109/tvt.2024.346166 – 10.1109/tvt.2024.3461669