Hierarchical Backstepping Control for Trajectory-Tracking of Autonomous Underwater Vehicles Subject to Uncertainties Conference Paper

abstract

• 2014 Institute of Control, Robotics and Systems (ICROS). In this study, the hierarchical backstepping control (HBC) is used for the trajectory-tracking of autonomous underwater vehicles (AUV) subject to uncertainties (e.g., current disturbances). The proposed HBC utilizes hierarchical structures of the backstepping control based on the kinematic and dynamic models such that both the virtual velocity control and trajectory-tracking of the AUV lead to asymptotic stability. The robustness of the proposed control technique is demonstrated via injection of uncertainties into the closed-loop model. The overall closed-loop stability of the proposed control scheme is guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. Finally, the feasibility and effectiveness of the proposed scheme are evaluated through computer simulations.

name of conference

• 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

published proceedings

• 2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014)

author list (cited authors)

• Wu, H., & Karkoub, M.

citation count

• 4

complete list of authors

• Wu, Hsiu-Ming||Karkoub, Mansour

publication date

• October 2014

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• 2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014)  Journal

keywords

• Autonomous Underwater Vehicles
• Hierarchical Backstepping Control
• Lyapunov Stability Criteria
• Virtual Reference Velocity

Digital Object Identifier (DOI)

• 10.1109/iccas.2014.6987740

International Standard Book Number (ISBN) 13

• 9788993215069

start page

• 1191

end page

• 1196

URL

• http%3A%2F%2Fdx.doi.org%2F10.1109%2Ficcas.2014.6987740