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| Innovation-driven disturbance rejection enhancement for robust AUV
path tracking |
| WanpingSong1,MingweiSun1,ZengqiangChen1,2,QinglinSun1,MikulasHuba3,PavolBistak3 |
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| (College of Artificial Intelligence, Nankai University, Tianjin
300350, China;The Key Laboratory of Intelligent Robotics of Tianjin, Tianjin
300350, China;Faculty of Electrical Engineering and Information
Technology, Institute of Automotive Mechatronics, Slovak
University of Technology in Bratislava, Bratislava 812 19,
Slovakia) |
|
| 摘要: |
| Unknown external disturbances and hydrodynamic uncertainties pose significant challenges to accurate path tracking of
autonomous underwater vehicles (AUVs). To address this problem, a guidance lawensuring trajectory convergence is proposed
by incorporating position error and AUV dynamics. A deviation compensation disturbance rejection (DCDR) controller is
developed by introducing an independent tunable gain to decouple disturbance rejection from state observer dynamics, thereby
enabling separate design and coordination of nominal control and robust enhancement. The transfer function-based DCDR
implementation is derived to demonstrate a systematic parameter tuning guideline, and the closed-loop stability is established
through invariant set analysis. The effectiveness of the proposed method is validated through straight and circular path tracking
simulations with and without wave-induced external disturbances. By maintaining an explicit control structure, the proposed
DCDR can achieve improved tracking performance and reduced control effort compared with the linear active disturbance
rejection control (LADRC) and the compensation function observer-based controller (CFO-C). |
| 关键词: Autonomous underwater vehicles · Path tracking · Active disturbance rejection control · Compensation function
observer |
| DOI：https://doi.org/10.1007/s11768-025-00316-z |
|
| 基金项目:This work was supported by the National Natural Science Foundation
of China (Grant Nos. 62473209, 62073177). |
|
| Innovation-driven disturbance rejection enhancement for robust AUVpath tracking |
| Wanping Song1,Mingwei Sun1,Zengqiang Chen1,2,Qinglin Sun1,Mikulas Huba3,Pavol Bistak3 |
| (College of Artificial Intelligence, Nankai University, Tianjin
300350, China;The Key Laboratory of Intelligent Robotics of Tianjin, Tianjin
300350, China;Faculty of Electrical Engineering and Information
Technology, Institute of Automotive Mechatronics, Slovak
University of Technology in Bratislava, Bratislava 812 19,
Slovakia) |
| Abstract: |
| Unknown external disturbances and hydrodynamic uncertainties pose significant challenges to accurate path tracking of
autonomous underwater vehicles (AUVs). To address this problem, a guidance lawensuring trajectory convergence is proposed
by incorporating position error and AUV dynamics. A deviation compensation disturbance rejection (DCDR) controller is
developed by introducing an independent tunable gain to decouple disturbance rejection from state observer dynamics, thereby
enabling separate design and coordination of nominal control and robust enhancement. The transfer function-based DCDR
implementation is derived to demonstrate a systematic parameter tuning guideline, and the closed-loop stability is established
through invariant set analysis. The effectiveness of the proposed method is validated through straight and circular path tracking
simulations with and without wave-induced external disturbances. By maintaining an explicit control structure, the proposed
DCDR can achieve improved tracking performance and reduced control effort compared with the linear active disturbance
rejection control (LADRC) and the compensation function observer-based controller (CFO-C). |
| Key words: Autonomous underwater vehicles · Path tracking · Active disturbance rejection control · Compensation function
observer |
