3D Path Following and L1 Adaptive Control for Underwater Vehicles

Nicholas Rober; Maxwell Hammond; Venanzio Cichella; Juan E Martin; Pablo Carrica

doi:10.48550/arXiv.2204.00935

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3D Path Following and L1 Adaptive Control for Underwater Vehicles

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3D Path Following and L1 Adaptive Control for Underwater Vehicles

Nicholas Rober, Maxwell Hammond, Venanzio Cichella, Juan E Martin and Pablo Carrica

ArXiv.org

04/02/2022

DOI: 10.48550/arXiv.2204.00935

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Preprint (Author's original)This preprint has not been evaluated by subject experts through peer review. Preprints may undergo extensive changes and/or become peer-reviewed journal articles. Open Access

Abstract

This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight path-following algorithm is used to guide the vehicle along a three-dimensional path, and an $\mathcal{L}_1$ adaptive control algorithm is used to determine the low-level rudder commands to accomplish path following. The performance bounds of these outer- and inner-loop control algorithms are presented. Numerical results obtained using a physics-based Simulink model are used to aid in visualization of the control algorithm's performance.

Details

Title: Subtitle: 3D Path Following and L1 Adaptive Control for Underwater Vehicles
Creators: Nicholas Rober
Maxwell Hammond
Venanzio Cichella
Juan E Martin
Pablo Carrica
Resource Type: Preprint
Publication Details: ArXiv.org
DOI: 10.48550/arXiv.2204.00935
ISSN: 2331-8422
Language: English
Date posted: 04/02/2022
Academic Unit: IIHR--Hydroscience and Engineering; Mechanical Engineering
Record Identifier: 9984232097402771

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