Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles
Abstract
:1. Introduction
- (i)
- Contrary to the existing output-feedback tracking methods for 5-DOF or 6-DOF underwater vehicles [24,25,26,27], this study considers unknown system nonlinearities of the 6-DOF UUV dynamics. Thus, an adaptive velocity observer design strategy using state transformation and neural networks is proposed to estimate the velocity information of UUVs while compensating for the unknown system nonlinearities, where adaptive laws based on a scaling function are derived to learn weights of neural networks.
- (ii)
- Compared with the existing event-triggered control results for three-dimensional tracking [23,28], this study establishes the design methodology of the guaranteed-performance-based adaptive tracker and its event-triggering condition depending on only the position measurement of 6-DOF UUVs. Then, the stability of the proposed output-feedback event-triggered tracking system is analyzed in the Lyapunov sense.
2. Problem Formulation
3. Nonlinear-Observer-Based Design Approach for Event-Driven Output- Feedback Control
3.1. Adaptive Nonlinear Observer Design Using Neural Networks
3.2. Output-Feedback Event-Driven Controller Design and Stability Analysis
4. Simulation Examples
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Kim, J.H.; Yoo, S.J. Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles. Mathematics 2021, 9, 1144. https://doi.org/10.3390/math9101144
Kim JH, Yoo SJ. Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles. Mathematics. 2021; 9(10):1144. https://doi.org/10.3390/math9101144
Chicago/Turabian StyleKim, Jin Hoe, and Sung Jin Yoo. 2021. "Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles" Mathematics 9, no. 10: 1144. https://doi.org/10.3390/math9101144
APA StyleKim, J. H., & Yoo, S. J. (2021). Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles. Mathematics, 9(10), 1144. https://doi.org/10.3390/math9101144