Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach

Muhammad Azri Bin Abdul Wahed; Mohd Rizal Arshad

doi:10.1007/978-981-15-5281-6_1

Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach

Muhammad Azri Bin Abdul Wahed, Mohd Rizal Arshad^*

^*Corresponding author for this work

Universiti Sains Malaysia

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

Micro autonomous underwater vehicle (µAUV) design and developed at Underwater, Control and Robotics Group (UCRG) is a torpedo-shaped vehicle measuring only 0.72 m in length and 0.11 in diameter with a mass of approximately 6 kg. This paper proposed a time invariant tracking control method for underactuated micro AUV in horizontal plane using robust filter approach to track a predefined trajectory. Tracking error is introduced which can then be converged by using force in surge direction and moment in yaw direction. A robust control will minimize the effects of external disturbance and parameter uncertainties on the AUV performance. With only rigid-body system inertia matrix information of the micro AUV, robustness against parameter uncertainties, model nonlinearities, and unexpected external disturbance is achievable with the proposed controller. Performance of the proposed robust tracking control is demonstrated in simulation results.

Original language	English
Title of host publication	Proceedings of the 11th National Technical Seminar on Unmanned System Technology, NUSYS 2019
Editors	Zainah Md Zain, Hamzah Ahmad, Dwi Pebrianti, Mahfuzah Mustafa, Nor Rul Hasma Abdullah, Rosdiyana Samad, Maziyah Mat Noh
Publisher	Springer
Pages	3-13
Number of pages	11
ISBN (Print)	9789811552809
DOIs	https://doi.org/10.1007/978-981-15-5281-6_1
Publication status	Published - 2021
Externally published	Yes
Event	11th National Technical Symposium on Unmanned System Technology, NUSYS 2019 - Kuantan, Malaysia Duration: 2 Dec 2019 → 3 Dec 2019

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	666
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	11th National Technical Symposium on Unmanned System Technology, NUSYS 2019
Country/Territory	Malaysia
City	Kuantan
Period	2/12/19 → 3/12/19

Keywords

Micro autonomous underwater vehicles
Robust control
Trajectory tracking
Underactuated system

Access to Document

10.1007/978-981-15-5281-6_1

Cite this

Wahed, M. A. B. A., & Arshad, M. R. (2021). Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach. In Z. Md Zain, H. Ahmad, D. Pebrianti, M. Mustafa, N. R. H. Abdullah, R. Samad, & M. Mat Noh (Eds.), Proceedings of the 11th National Technical Seminar on Unmanned System Technology, NUSYS 2019 (pp. 3-13). (Lecture Notes in Electrical Engineering; Vol. 666). Springer. https://doi.org/10.1007/978-981-15-5281-6_1

Wahed, Muhammad Azri Bin Abdul ; Arshad, Mohd Rizal. / Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach. Proceedings of the 11th National Technical Seminar on Unmanned System Technology, NUSYS 2019. editor / Zainah Md Zain ; Hamzah Ahmad ; Dwi Pebrianti ; Mahfuzah Mustafa ; Nor Rul Hasma Abdullah ; Rosdiyana Samad ; Maziyah Mat Noh. Springer, 2021. pp. 3-13 (Lecture Notes in Electrical Engineering).

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abstract = "Micro autonomous underwater vehicle (µAUV) design and developed at Underwater, Control and Robotics Group (UCRG) is a torpedo-shaped vehicle measuring only 0.72 m in length and 0.11 in diameter with a mass of approximately 6 kg. This paper proposed a time invariant tracking control method for underactuated micro AUV in horizontal plane using robust filter approach to track a predefined trajectory. Tracking error is introduced which can then be converged by using force in surge direction and moment in yaw direction. A robust control will minimize the effects of external disturbance and parameter uncertainties on the AUV performance. With only rigid-body system inertia matrix information of the micro AUV, robustness against parameter uncertainties, model nonlinearities, and unexpected external disturbance is achievable with the proposed controller. Performance of the proposed robust tracking control is demonstrated in simulation results.",

keywords = "Micro autonomous underwater vehicles, Robust control, Trajectory tracking, Underactuated system",

author = "Wahed, {Muhammad Azri Bin Abdul} and Arshad, {Mohd Rizal}",

note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd 2021.; 11th National Technical Symposium on Unmanned System Technology, NUSYS 2019 ; Conference date: 02-12-2019 Through 03-12-2019",

year = "2021",

doi = "10.1007/978-981-15-5281-6_1",

language = "English",

isbn = "9789811552809",

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pages = "3--13",

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Wahed, MABA & Arshad, MR 2021, Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach. in Z Md Zain, H Ahmad, D Pebrianti, M Mustafa, NRH Abdullah, R Samad & M Mat Noh (eds), Proceedings of the 11th National Technical Seminar on Unmanned System Technology, NUSYS 2019. Lecture Notes in Electrical Engineering, vol. 666, Springer, pp. 3-13, 11th National Technical Symposium on Unmanned System Technology, NUSYS 2019, Kuantan, Malaysia, 2/12/19. https://doi.org/10.1007/978-981-15-5281-6_1

Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach. / Wahed, Muhammad Azri Bin Abdul; Arshad, Mohd Rizal.
Proceedings of the 11th National Technical Seminar on Unmanned System Technology, NUSYS 2019. ed. / Zainah Md Zain; Hamzah Ahmad; Dwi Pebrianti; Mahfuzah Mustafa; Nor Rul Hasma Abdullah; Rosdiyana Samad; Maziyah Mat Noh. Springer, 2021. p. 3-13 (Lecture Notes in Electrical Engineering; Vol. 666).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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T1 - Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach

AU - Wahed, Muhammad Azri Bin Abdul

AU - Arshad, Mohd Rizal

N1 - Publisher Copyright: © Springer Nature Singapore Pte Ltd 2021.

PY - 2021

Y1 - 2021

N2 - Micro autonomous underwater vehicle (µAUV) design and developed at Underwater, Control and Robotics Group (UCRG) is a torpedo-shaped vehicle measuring only 0.72 m in length and 0.11 in diameter with a mass of approximately 6 kg. This paper proposed a time invariant tracking control method for underactuated micro AUV in horizontal plane using robust filter approach to track a predefined trajectory. Tracking error is introduced which can then be converged by using force in surge direction and moment in yaw direction. A robust control will minimize the effects of external disturbance and parameter uncertainties on the AUV performance. With only rigid-body system inertia matrix information of the micro AUV, robustness against parameter uncertainties, model nonlinearities, and unexpected external disturbance is achievable with the proposed controller. Performance of the proposed robust tracking control is demonstrated in simulation results.

AB - Micro autonomous underwater vehicle (µAUV) design and developed at Underwater, Control and Robotics Group (UCRG) is a torpedo-shaped vehicle measuring only 0.72 m in length and 0.11 in diameter with a mass of approximately 6 kg. This paper proposed a time invariant tracking control method for underactuated micro AUV in horizontal plane using robust filter approach to track a predefined trajectory. Tracking error is introduced which can then be converged by using force in surge direction and moment in yaw direction. A robust control will minimize the effects of external disturbance and parameter uncertainties on the AUV performance. With only rigid-body system inertia matrix information of the micro AUV, robustness against parameter uncertainties, model nonlinearities, and unexpected external disturbance is achievable with the proposed controller. Performance of the proposed robust tracking control is demonstrated in simulation results.

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KW - Trajectory tracking

KW - Underactuated system

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A2 - Md Zain, Zainah

A2 - Ahmad, Hamzah

A2 - Pebrianti, Dwi

A2 - Mustafa, Mahfuzah

A2 - Abdullah, Nor Rul Hasma

A2 - Samad, Rosdiyana

A2 - Mat Noh, Maziyah

PB - Springer

T2 - 11th National Technical Symposium on Unmanned System Technology, NUSYS 2019

Y2 - 2 December 2019 through 3 December 2019

ER -

Wahed MABA, Arshad MR. Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach. In Md Zain Z, Ahmad H, Pebrianti D, Mustafa M, Abdullah NRH, Samad R, Mat Noh M, editors, Proceedings of the 11th National Technical Seminar on Unmanned System Technology, NUSYS 2019. Springer. 2021. p. 3-13. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-15-5281-6_1

Tracking control design for underactuated micro autonomous underwater vehicle in horizontal plane using robust filter approach

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