Robust singular perturbation control for 3D path following of underactuated AUVs

• Published in: International journal of naval architecture and ocean engineering Vol. 13; pp. 758 - 771
• Main Authors: Lei, Ming, Li, Ye, Pang, Shuo
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.01.2021; Elsevier; 대한조선학회
• Subjects: Autonomous underwater vehicle; Control design; Path following; Singular perturbations; Stability analysis; 조선공학; Singular perturbations; Stability analysis; Control design; Autonomous underwater vehicle; Path following
• ISSN: 2092-6782; 2092-6790
• DOI: 10.1016/j.ijnaoe.2021.08.003

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances. •The system control design is based on the integral control technique and the time scale decomposition method, leading to a relatively simple control law which is easy to implement in reality.•An unique feature of this work is that the time scale decomposition approach simplifies the design and analysis procedure of path following control.