Constrained Control of Autonomous Underwater Vehicles Based on Command Optimization and Disturbance Estimation

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)3627-3635
Journal / PublicationIEEE Transactions on Industrial Electronics
Issue number5
Online published20 Jul 2018
Publication statusPublished - May 2019


In this paper, a method is presented for antidisturbance constrained control of autonomous underwater vehicles subject to uncertainties and constraints. The uncertainties stem from uncertain hydrodynamic parameters, modeling errors, and unknown forces due to the ocean currents in an underwater environment. An antidisturbance constrained controller is developed by designing a command governor and a disturbance observer. Specifically, the disturbance observer is developed to estimate the lumped disturbance composed of parametric model uncertainties, modeling errors, and unknown environmental forces. The command governor is designed for optimizing command signals in the receding horizon within the state and input constraints. The command governor is formulated as a quadratically constrained quadratic programming problem. To facilitate online implementations, a neurodynamic optimization method based on a one-layer recurrent neural network is employed for solving the quadratic optimization problem subject to inequality constraints with finite-time convergence. The efficacy of the proposed antidisturbance constrained control method for autonomous underwater vehicles is substantiated via simulations and comparisons.

Research Area(s)

  • Command governor (CG), disturbance observer (DO), autonomous underwater vehicles (AUVs), one-layer recurrent neural network, finite-time convergence, receding horizon optimization