入力飽和を伴う不確実な自律型水中ロボットの適応的規定性能軌道追跡
Adaptive Prescribed Performance Trajectory Tracking for Uncertain Autonomous Underwater Vehicles With Input Saturation
入力飽和と不確実な流体力学下で、要求入力と飽和入力の不一致に応じて性能関数を適応的に拡大する低計算量の規定性能制御器を提案し、BlueROV2のシミュレーションと実機実験で有効性を示した。
著者: Athanasios K. Gkesoulis, Christos Vlachos, George K. Fourlas, Charalampos P. Bechlioulis, George C. Karras
分類: cs.RO, eess.SY
原文アブストラクト
Accurate trajectory tracking is essential for autonomous underwater vehicles operating with uncertain hydrodynamics and limited thruster authority. This paper develops a low-complexity adaptive prescribed performance controller for uncertain underwater vehicle dynamics with coupled and saturated inputs. The proposed method adapts the performance functions directly through the mismatch between the requested and saturated control inputs, enlarging the performance funnels only when the available actuation cannot meet the nominal specifications. A coupled invariant-set analysis establishes boundedness of all closed-loop signals, prescribed bounds on the filtered tracking errors, and explicit feasibility conditions. Comparative simulations on a BlueROV2 underwater vehicle show that the adaptive design maintains prescribed performance during a figure-eight maneuver, whereas conventional prescribed performance control loses feasibility under input limits. A real-time pool experiment further demonstrates stable trajectory tracking and the practical implementation of the proposed method on an underwater robotic platform.