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Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles

Author

Listed:
  • Jin Hoe Kim

    (School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea)

  • Sung Jin Yoo

    (School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea)

Abstract

A nonlinear-observer-based design methodology is proposed for an adaptive event-driven output-feedback tracking problem with guaranteed performance of uncertain underactuated underwater vehicles (UUVs) in six-degrees-of-freedom (6-DOF). A nonlinear observer using adaptive neural networks is presented to estimate the velocity information in the presence of unknown nonlinearities in the dynamics of 6-DOF UUVs where a state transformation approach using a time-varying scaling factor is introduced. Then, an output-feedback tracker using a nonlinear error function and estimated states is recursively designed to overcome the underactuated problem of the system dynamics and to guarantee preselected control performance in three-dimensional space. It is shown that the tracking error of the nonlinear-observer-based output-feedback control system exponentially converges a small neighbourhood around the zero. Efficiency of the resulting output-feedback strategy is verified through a simulation.

Suggested Citation

  • Jin Hoe Kim & Sung Jin Yoo, 2021. "Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles," Mathematics, MDPI, vol. 9(10), pages 1-23, May.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:10:p:1144-:d:557483
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    Cited by:

    1. Jiajian Liang & Wenkai Huang & Fobao Zhou & Jiaqiao Liang & Guojian Lin & Endong Xiao & Hongquan Li & Xiaolin Zhang, 2022. "Double-Loop PID-Type Neural Network Sliding Mode Control of an Uncertain Autonomous Underwater Vehicle Model Based on a Nonlinear High-Order Observer with Unknown Disturbance," Mathematics, MDPI, vol. 10(18), pages 1-24, September.

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