Paper Info
Title
Output-Feedback Control for Cooperative Diving of Saucer-Type Underwater Gliders Based on a Fuzzy Observer and Event-Triggered Communication
Abstract
This paper presents an output-feedback control method for cooperative diving of multiple homogenous under-actuated saucer-type autonomous underwater gliders (AUGs) subjected to unmeasured velocities, model uncertainties, as well as unknown environmental disturbances. A robust cooperative diving controller is constructed by using a modular back-stepping design method. First, a fuzzy observer combined with a low-frequency learning scheme is presented to identify the unknown AUG dynamics as well as to estimate the unmeasured velocities. Second, a commanded guidance law is designed based on the observed velocities and a vertical line-of-sight guidance scheme at the kinematic level, and fuzzy dynamic control law is developed at the kinetic level. Finally, a non-periodic path update law based on an event-triggered mechanism is designed to reduce the communication frequency. By using the cascade theory, the stability of the closed-loop system is analyzed. The simulation results are provided to show the effectiveness of the proposed output-feedback control approach for saucer-type AUGs.
Year
DOI
Venue
2019
10.1109/ACCESS.2019.2911194
IEEE ACCESS
Keywords
Field
DocType
Output-feedback,cooperative diving,autonomous underwater gliders,fuzzy observer,event-triggered mechanism
Saucer,Control theory,Kinematics,Fuzzy observer,Control theory,Computer science,Fuzzy logic,Cascade,Modular design,Underwater glider,Distributed computing
Journal
Volume
ISSN
Citations 
7
2169-3536
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Haoliang Wang113.42
Lu Liu21501170.70
Dan Wang371438.64
Tianlin Wang4103.41