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

Volume

30

Issue

4

fYear

2014

fDate

Aug. 2014

Firstpage

845

Lastpage

852

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);

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2014.2305791

Filename

6767142