Hamiltonian based AUV navigation using finite-time trajectory tracking control
Article No.: 9, Pages 1 - 5
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.
References
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Published In
November 2023
239 pages
ISBN:9798400716744
DOI:10.1145/3631726
Copyright © 2023 ACM.
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 12 June 2024
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- Short-paper
- Research
- Refereed limited
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- National Key Basic Research Program
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WUWNet 2023
WUWNet 2023: The 17th International Conference on Underwater Networks & Systems
November 24 - 26, 2023
Shenzhen, China
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Overall Acceptance Rate 84 of 180 submissions, 47%
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