An adaptive control scheme for 6-DOF control of an AUV using saturation functions

Fahimeh Rezazadegan, Khoshnam Shojaei

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

Abstract

In this paper, the trajectory tracking control of autonomous underwater vehicles (AUVs) in six-degrees-of-freedom (6-DOFs) is analyzed. It is assumed that the system parameters are unknown and vehicle is underactuated. The desired trajectory can be any sufficiently smooth bounded curve parameterized by time even consist of straight line. To guarantee robustness against parameter uncertainty, an adaptive controller based on the Lyapunov’s direct method and the back-stepping technique, is proposed while Control signals are bounded using saturation functions. The nonlinear adaptive control scheme yields asymptotic convergence of the vehicle to the reference trajectory. The stability of the presented control law is proved in the sense of Lyapunov theory and Barbalat’s lemma. Numerical simulations are presented to illustrate the controller’ behavior.
Original languageEnglish
Title of host publicationProceedings of the 3rd International Conference on Intelligent Computational Systems (ICICS'2013)
Pages67-72
Number of pages6
Publication statusPublished - 2013
Externally publishedYes
Event3rd International Conference on Intelligent Computational Systems (ICICS'2013) - , Singapore
Duration: 29 Apr 201330 Apr 2013

Publication series

NameProceedings of International Conference on Intelligent Computational Systems (ICICS'2013)

Conference

Conference3rd International Conference on Intelligent Computational Systems (ICICS'2013)
CountrySingapore
Period29/04/1330/04/13

Keywords

  • Adaptive control
  • Autonomous underwater vehicle
  • Back-stepping technique
  • Lyapunov theory
  • Saturaion function

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