Adaptive Command Filtered Backstepping Tracking Control for AUVs Considering Model Uncertainties and Input Saturation

作者：Yuqing Liu, Jiapeng Liu, Qing‐Guo Wang, Jinpeng Yu · 发表于：IEEE Transactions on Circuits & Systems II Express Briefs · 年份：2022 · DOI：10.1109/tcsii.2022.3221082 · 被引用次数：46 · 研究领域：Adaptive Control of Nonlinear Systems、Underwater Vehicles and Communication Systems、Control and Dynamics of Mobile Robots

In this short essay, we propose a modified adaptive command filtered backstepping control (ACFBC) scheme for AUVs considering model uncertainties and input saturation. Firstly, command filters are introduced not only to solve the computational complexity problem in the traditional backstepping method but also to approximate the un-modeled dynamics in the system. Secondly, a new stability function is constructed to eliminate the influence of an unknown time-varying inertia matrix. Thirdly, an adaptive control scheme is used to evaluate the uncertain time constants in the saturation actuators. Then the uniform ultimate boundedness of all signals in the closed-loop control system is proven. Finally, simulation results are given to show the effectiveness of the proposed control strategy.