Trajectory tracking control by PCH method for AUVs with input saturations

Authors

Haonan Chen, Pei Zhou, Renming Yang, Yun Chen

Abstract

This article is concerned with the three-dimensional (3D) trajectory tracking control (TTC) problem for a type of autonomous underwater vehicles (AUVs) subject to unknown time-varying disturbances, input saturations, and energy constraints. With the help of port-controlled Hamiltonian (PCH) method, the system model under consideration is firstly transformed into a Hamiltonian form, and a reduced-order extended state observer (ESO) is constructed to obtain the disturbance estimate. Then, a desired state-error controller is designed to guarantee the prescribed trajectory tracking performance. Subsequently, by introducing an auxiliary system enabling to decrease the effects of input saturations, the uniformly ultimate boundedness (UUB) is achieved for the closed-loop feedback system. Finally, a simulation example is given to demonstrate the effectiveness of the developed TTC approach.

Citation

• Journal: International Journal of Systems Science
• Year: 2025
• Volume: 56
• Issue: 14
• Pages: 3512–3527
• Publisher: Informa UK Limited
• DOI: 10.1080/00207721.2025.2470406

BibTeX

@article{Chen_2025,
  title={{Trajectory tracking control by PCH method for AUVs with input saturations}},
  volume={56},
  ISSN={1464-5319},
  DOI={10.1080/00207721.2025.2470406},
  number={14},
  journal={International Journal of Systems Science},
  publisher={Informa UK Limited},
  author={Chen, Haonan and Zhou, Pei and Yang, Renming and Chen, Yun},
  year={2025},
  pages={3512--3527}
}

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