Data-Driven Robust Attitude Tracking Control of Unmanned Underwater Vehicles with Performance Constraints

He-Ning Zhang, Run-Ze Chen, Zi-Yi Liu, Zhi-Fu Zhang and Yi-Zhe Huang ()
Additional contact information
He-Ning Zhang: Hubei Key Laboratory of Modern Manufacturing Quality Engineering, School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China
Run-Ze Chen: School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
Zi-Yi Liu: Hubei Key Laboratory of Modern Manufacturing Quality Engineering, School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China
Zhi-Fu Zhang: Hubei Key Laboratory of Modern Manufacturing Quality Engineering, School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China
Yi-Zhe Huang: Hubei Key Laboratory of Modern Manufacturing Quality Engineering, School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China

Mathematics, 2025, vol. 13, issue 8, 1-20

Abstract: This paper studies the data-driven attitude tracking control issue for an unmanned underwater vehicle (UUV) with disturbances. First, a new polynomial finite-time prescribed performance function (FTPF) is introduced to avoid the problem of the computation number increasing as the exponential term increases in the conventional exponential FTPF. By using the new polynomial FTPF, the tracking error is converted into a constrained form. Then, an estimator is designed for estimating the unknown pseudo-partitioned Jacobian matrix (PJM) in the linearization model, and a discrete-time nonlinear disturbance observer (DNDO) is adopted for observing unknown disturbances. It is worth noting that the DNDO can avoid the large overshoot by introducing a saturated function. With the help of the estimator for the PJM, the DNDO, and the constrained error, a data-driven robust control strategy with performance constraints is designed to fulfill accurate attitude tracking control of the UUV, which ensures that the tracking error draws into a prescribed region in a predetermined time. Eventually, the control strategy is verified by numerical simulations.

Keywords: attitude tracking; model-free adaptive control; anti-disturbance control; prescribed performance control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
References: Add references at CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/13/8/1350/pdf (application/pdf)
https://www.mdpi.com/2227-7390/13/8/1350/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:13:y:2025:i:8:p:1350-:d:1638946

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().