A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method
In order to improve the persistent operation capacity of autonomous underwater vehicle (AUV), autonomous recovery system draws more and more attention in recent years. A hybrid scheme combined with navigation, guidance and control is proposed to complete the function of autonomous recovery of AUV in...
| 發表在: | IEEE Access |
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| Main Authors: | , , , , , , |
| 格式: | Article |
| 語言: | 英语 |
| 出版: |
IEEE
2022-01-01
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| 主題: | |
| 在線閱讀: | https://ieeexplore.ieee.org/document/9791415/ |
| _version_ | 1852742464866091008 |
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| author | Xiaofei Yang Xunnan Zhu Wei Liu Hui Ye Wentao Xue Congling Yan Weixiang Xu |
| author_facet | Xiaofei Yang Xunnan Zhu Wei Liu Hui Ye Wentao Xue Congling Yan Weixiang Xu |
| author_sort | Xiaofei Yang |
| collection | DOAJ |
| container_title | IEEE Access |
| description | In order to improve the persistent operation capacity of autonomous underwater vehicle (AUV), autonomous recovery system draws more and more attention in recent years. A hybrid scheme combined with navigation, guidance and control is proposed to complete the function of autonomous recovery of AUV in the paper. Based on the hybrid scheme, the autonomous recovery is firstly transformed into the trajectory tracking problem, and the Dubins path planning method is adopted to build the three-dimensional(3D) motion path of AUV. Secondly, the virtual target guidance strategy is introduced to guide the AUV to track the desired path. Finally, a non-singular terminal sliding mode controller is designed to control the AUV. Due to the existence of model inaccuracy of AUV and external disturbances from the environment, a finite-time disturbance observer is adopted to estimate the disturbance and uncertainty in the system. Numerical simulation is conducted to verify its performance. The simulation results show that a 3D motion path can be planed and the AUV can track the motion path well. |
| format | Article |
| id | doaj-art-e0dacdf185c844bb9f58d51f3b88b36a |
| institution | Directory of Open Access Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| spelling | doaj-art-e0dacdf185c844bb9f58d51f3b88b36a2025-08-19T21:04:02ZengIEEEIEEE Access2169-35362022-01-0110612656127610.1109/ACCESS.2022.31808369791415A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control MethodXiaofei Yang0https://orcid.org/0000-0002-7767-7138Xunnan Zhu1Wei Liu2https://orcid.org/0000-0001-5384-6462Hui Ye3https://orcid.org/0000-0002-0734-9059Wentao Xue4https://orcid.org/0000-0003-4936-414XCongling Yan5Weixiang Xu6School of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang, ChinaSchool of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang, ChinaSchool of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang, ChinaSchool of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang, ChinaSchool of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang, ChinaSchool of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang, ChinaJiangsu Automation Research Institute, Lianyungang, ChinaIn order to improve the persistent operation capacity of autonomous underwater vehicle (AUV), autonomous recovery system draws more and more attention in recent years. A hybrid scheme combined with navigation, guidance and control is proposed to complete the function of autonomous recovery of AUV in the paper. Based on the hybrid scheme, the autonomous recovery is firstly transformed into the trajectory tracking problem, and the Dubins path planning method is adopted to build the three-dimensional(3D) motion path of AUV. Secondly, the virtual target guidance strategy is introduced to guide the AUV to track the desired path. Finally, a non-singular terminal sliding mode controller is designed to control the AUV. Due to the existence of model inaccuracy of AUV and external disturbances from the environment, a finite-time disturbance observer is adopted to estimate the disturbance and uncertainty in the system. Numerical simulation is conducted to verify its performance. The simulation results show that a 3D motion path can be planed and the AUV can track the motion path well.https://ieeexplore.ieee.org/document/9791415/AUVautonomous recoveryDubins pathfinite time observerterminal sliding mode control |
| spellingShingle | Xiaofei Yang Xunnan Zhu Wei Liu Hui Ye Wentao Xue Congling Yan Weixiang Xu A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method AUV autonomous recovery Dubins path finite time observer terminal sliding mode control |
| title | A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method |
| title_full | A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method |
| title_fullStr | A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method |
| title_full_unstemmed | A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method |
| title_short | A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method |
| title_sort | hybrid autonomous recovery scheme for auv based dubins path and non singular terminal sliding mode control method |
| topic | AUV autonomous recovery Dubins path finite time observer terminal sliding mode control |
| url | https://ieeexplore.ieee.org/document/9791415/ |
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