Saturation Based Nonlinear FOPD Motion Control Algorithm Design for Autonomous Underwater Vehicle
Source abstract
Abstract
The application of Autonomous Underwater Vehicle (AUV) is expanding rapidly, which drives the urgent need of its autonomy improvement. Motion control system is one of the keys to improve the control and decision-making ability of AUVs. In this paper, a saturation based nonlinear fractional-order PD (FOPD) controller is proposed for AUV motion control. The proposed controller is can achieve better dynamic performance as well as robustness compared with traditional PID type controller. It also has the advantages of simple structure, easy adjustment and easy implementation. The stability of the AUV motion control system with the proposed controller is analyzed through Lyapunov method. Moreover, the controlled performance can also be adjusted to satisfy different control requirements. The outperformed dynamic control performance of AUV yaw and depth systems with the proposed controller is shown by the set-point regulation and trajectory tracking simulation examples.
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Research context
OpenAlex topics: Advanced Control Systems Design · Adaptive Control of Nonlinear Systems · Advanced Algorithms and Applications
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Affiliations
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
Department of Applied Mathematics, Northwestern Polytechnical University, Xi’an 710072, China
Funding
National Natural Science Foundation of China · China Postdoctoral Science · Foundation Natural Science Foundation of Shaanxi Province · Opening Foundation of Key Laboratory of Ocean Engineering (Shanghai Jiao Tong University)
References (37)
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