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

Jin Hoe Kim and Sung Jin Yoo
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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

Mathematics, 2021, vol. 9, issue 10, 1-23

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.

Keywords: adaptive neural network observer; event-driven three-dimensional tracking; output-feedback; guaranteed performance; underactuated underwater vehicles (UUVs) (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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