Hierarchical backstepping control for trajectory-tracking of autonomous underwater vehicles subject to uncertainties

Hsiu Ming Wu, Mansour Karkoub

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this study, the hierarchical backstepping control (HBC) is used for the trajectory-tracking of autonomous underwater vehicles (AUV) subject to uncertainties (e.g., current disturbances). The proposed HBC utilizes hierarchical structures of the backstepping control based on the kinematic and dynamic models such that both the virtual velocity control and trajectory-tracking of the AUV lead to asymptotic stability. The robustness of the proposed control technique is demonstrated via injection of uncertainties into the closed-loop model. The overall closed-loop stability of the proposed control scheme is guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. Finally, the feasibility and effectiveness of the proposed scheme are evaluated through computer simulations.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages1191-1196
Number of pages6
ISBN (Electronic)9788993215069
DOIs
Publication statusPublished - 16 Dec 2014
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
Duration: 22 Oct 201425 Oct 2014

Other

Other2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
CountryKorea, Republic of
CityGyeonggi-do
Period22/10/1425/10/14

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Keywords

  • Autonomous underwater vehicles
  • Hierarchical backstepping control
  • Lyapunov stability criteria
  • Virtual reference velocity

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Wu, H. M., & Karkoub, M. (2014). Hierarchical backstepping control for trajectory-tracking of autonomous underwater vehicles subject to uncertainties. In International Conference on Control, Automation and Systems (pp. 1191-1196). [6987740] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987740