Trajectory tracking control by PCH method for AUVs with input saturations

Haonan Chen, Pei Zhou, Renming Yang and Yun Chen

International Journal of Systems Science, 2025, vol. 56, issue 14, 3512-3527

Abstract: This article is concerned with the three-dimensional (3D) trajectory tracking control (TTC) problem for a type of autonomous underwater vehicles (AUVs) subject to unknown time-varying disturbances, input saturations, and energy constraints. With the help of port-controlled Hamiltonian (PCH) method, the system model under consideration is firstly transformed into a Hamiltonian form, and a reduced-order extended state observer (ESO) is constructed to obtain the disturbance estimate. Then, a desired state-error controller is designed to guarantee the prescribed trajectory tracking performance. Subsequently, by introducing an auxiliary system enabling to decrease the effects of input saturations, the uniformly ultimate boundedness (UUB) is achieved for the closed-loop feedback system. Finally, a simulation example is given to demonstrate the effectiveness of the developed TTC approach.

Date: 2025
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2025.2470406 (text/html)
Access to full text is restricted to subscribers.

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:taf:tsysxx:v:56:y:2025:i:14:p:3512-3527

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2025.2470406

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().