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Simultaneously Tracking and Pitch Control of Underwater Towed Vehicle with Multiple Elevators: A Finite-Time Fuzzy Approach

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Abstract

This paper investigates the motion control problem in the vertical plane of an underwater towed vehicle with multiple bow and stern elevators, in order to track the depth or the sea-bottom terrain while maintaining the desired pitch angle simultaneously. First, the dynamic model of the towed vehicle is established to illustrate the dynamic effects of bow and stern elevators on the vertical position and pitch angle, respectively. Second, based on the nominal model, a finite-time fuzzy adaptive control scheme is designed to deal with the control problem of two inputs from multiple elevators and two outputs for the vertical motion states. To reject uncertainties such as model uncertainty and external disturbances, robust and adaptive backstepping control laws are designed. Meanwhile, fuzzy approximation technique is employed to estimate the hydrodynamic terms. Based on the Lyapunov theory, the stability of the proposed control scheme is analyzed in detail. Finally, numerical simulation results show that the control laws guarantee the simultaneously tracking and pitch control in the presence of disturbance and enable the towed vehicle to follow the bottom terrain for the near-seabed survey mission.

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Acknowledgements

This work is supported by National Natural Science Foundation of China (under Grant Nos. 52071153 and 5213000376), in part by the Fundamental Research Funds for the Central Universities (under Grant No. 2021yjsCXCY012).

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Authors and Affiliations

  1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

    Chuan Liu, Jinjiang Li, Shaolong Yang & Xianbo Xiang

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  1. Chuan Liu
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  2. Jinjiang Li
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  3. Shaolong Yang
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  4. Xianbo Xiang
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Correspondence to Xianbo Xiang.

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Liu, C., Li, J., Yang, S. et al. Simultaneously Tracking and Pitch Control of Underwater Towed Vehicle with Multiple Elevators: A Finite-Time Fuzzy Approach. Int. J. Fuzzy Syst. 25, 264–274 (2023). https://doi.org/10.1007/s40815-022-01270-7

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  • DOI: https://doi.org/10.1007/s40815-022-01270-7

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