Abstract
Micro autonomous underwater vehicle (µAUV) design and developed at Underwater, Control and Robotics Group (UCRG) is a torpedo-shaped vehicle measuring only 0.72 m in length and 0.11 in diameter with a mass of approximately 6 kg. This paper proposed a time invariant tracking control method for underactuated micro AUV in horizontal plane using robust filter approach to track a predefined trajectory. Tracking error is introduced which can then be converged by using force in surge direction and moment in yaw direction. A robust control will minimize the effects of external disturbance and parameter uncertainties on the AUV performance. With only rigid-body system inertia matrix information of the micro AUV, robustness against parameter uncertainties, model nonlinearities, and unexpected external disturbance is achievable with the proposed controller. Performance of the proposed robust tracking control is demonstrated in simulation results.
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Acknowledgements
The authors would like to thank RUI grant (Grant no.: 1001/PELECT/8014088) and Universiti Sains Malaysia for supporting the research.
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Wahed, M.A.B.A., Arshad, M.R. (2021). Tracking Control Design for Underactuated Micro Autonomous Underwater Vehicle in Horizontal Plane Using Robust Filter Approach. In: Md Zain, Z., et al. Proceedings of the 11th National Technical Seminar on Unmanned System Technology 2019 . NUSYS 2019. Lecture Notes in Electrical Engineering, vol 666. Springer, Singapore. https://doi.org/10.1007/978-981-15-5281-6_1
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DOI: https://doi.org/10.1007/978-981-15-5281-6_1
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