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Adaptive simplified surge-heading tracking control for underwater vehicles with thruster’s dead-zone compensation

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Abstract

Remotely operated underwater vehicles are usually equipped with four horizontal thrusters that form an X-shaped actuation configuration. Yet, thruster’s inherent dead-zone may possibly result in strong chatter of moment inputs and motion tracking of underwater vehicles. This paper proposes a two-layer cascade tracking controller together with a dead-zone compensator, in order to achieve simplified and effective surge-heading control of underwater vehicles equipped with an X-shaped horizontal actuation configuration. For the sake of brevity, the surge and heading dynamics are firstly unified as a second-order dynamic system where the known and unknown parts are separated, respectively. Based on this model, a feedback linearization control law with a combined error measure is designed in the first-layer cascade system for the simplified dynamics tracking. Then, a reduced-order extended state observer without using any priori knowledge of uncertainties is utilized in the second-layer cascade system to estimate the complex uncertainty of the dynamics. It is noted that this two-layer tracking controller has only two gains to be adjusted, ensuring a simple calculation and microprogramming. Subsequently, a dedicated dead-zone compensator is proposed for the X-shaped actuation configuration and the input-to-state stability of the whole tracking system is analyzed. Finally, comparative numerical cases are provided to demonstrate the adaptivity and robustness of the designed surge-heading tracking controller, i.e., up to 56% reduction of the maximum surge tracking error owing to this dead-zone compensator and less than 0.03\(^\circ \) of the heading steady state error against different initial states.

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All data generated or analyzed during this study are included in this paper.

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Acknowledgements

The authors would like to thank anonymous reviewers for their invaluable comments on the improvement of this paper.

Funding

This work was supported in part by the National Natural Science Foundation of China under Grants 51909161 and 52071153, in part by the Natural Science Foundation of Shanghai under Grant 22ZR1434600, in part by the Shanghai Sailing Program under Grant 19YF1424100, in part by the Open Research Fund of Key Laboratory of Marine Environmental Survey Technology and Application, Ministry of Natural Resources under Grant MESTA-2020-B008, and in part by the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University under Grants SL2022MS016 and 2020QY10.

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Authors and Affiliations

  1. School of Oceanography, Shanghai Jiao Tong University, Shanghai, 200030, China

    Caoyang Yu, Yiming Zhong & Lian Lian

  2. Key Laboratory of Marine Environmental Survey Technology and Application, Ministry of Natural Resources, Guangzhou, China

    Caoyang Yu

  3. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Lian Lian

  4. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

    Xianbo Xiang

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  1. Caoyang Yu
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  2. Yiming Zhong
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  3. Lian Lian
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Correspondence to Lian Lian or Xianbo Xiang.

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Yu, C., Zhong, Y., Lian, L. et al. Adaptive simplified surge-heading tracking control for underwater vehicles with thruster’s dead-zone compensation. Nonlinear Dyn 111, 13073–13088 (2023). https://doi.org/10.1007/s11071-023-08512-9

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