Title :
Nonlinear RISE-Based Control of an Autonomous Underwater Vehicle
Author :
Fischer, Normann ; Hughes, Danny ; Walters, Patrick ; Schwartz, Eric M. ; Dixon, Warren E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA
Abstract :
This study focuses on the development of a nonlinear control design for a fully-actuated autonomous underwater vehicle (AUV) using a continuous robust integral of the sign of the error control structure to compensate for system uncertainties and sufficiently smooth bounded exogenous disturbances. A Lyapunov stability analysis is included to prove semiglobal asymptotic tracking. The resulting controller is experimentally validated on an AUV developed at the University of Florida in both controlled and open-water environments.
Keywords :
Lyapunov methods; autonomous underwater vehicles; compensation; control system synthesis; nonlinear control systems; robust control; uncertain systems; AUV; Lyapunov stability analysis; University of Florida; bounded exogenous disturbance smoothing; continuous robust integral of the sign of the error control structure; controlled environments; fully-actuated autonomous underwater vehicle; nonlinear RISE-based control design; open-water environments; semiglobal asymptotic tracking; system uncertainties compensation; Educational institutions; Robustness; Trajectory; Underwater vehicles; Vectors; Vehicle dynamics; Vehicles; Autonomous underwater vehicles (AUVs); marine robotics; nonlinear control; robust integral of the sign of the error (RISE);
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2014.2305791
