This paper presents a novel Gaussian process (GP) based adaptive tracking control method for autonomous underwater vehicles subject to unknown system dynamics and uncertain smooth actuator nonlinearity. We deploy sparse online Gaussian process (SOGP) technique to estimate the unknown system dynamics and uncertain actuator nonlinearity simultaneously, with a given prior dynamic model. Based on an adaptive sliding mode control framework, the posterior means of GPs are used to compensate for all the unknown terms. Besides, the corresponding posterior variances, which indicate the probabilistic confidence intervals, are applied to update robust control gains. Theoretical analysis is performed to prove the stability of a closed-loop system with our proposed control law. Comparison simulation results validate the effectiveness of our GP-based adaptive tracking control method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Learning Based Trajectory Tracking Control of Autonomous Underwater Vehicles with Actuator Nonlinearity


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / He, Yongxu (author) / Zhao, Yuxin (author) / Deng, Xiong (author) / Xu, Geng (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Publication date :

    2022-03-18


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Learning Based Trajectory Tracking Control of Autonomous Underwater Vehicles with Actuator Nonlinearity

    He, Yongxu / Zhao, Yuxin / Deng, Xiong et al. | British Library Conference Proceedings | 2022




    Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

    Heshmati Alamdari, Shahabodin / Nikou, Alexandros / Dimarogonas, Dimos V. | BASE | 2020

    Free access

    Trajectory-tracking Control of Underactuated Underwater Vehicles

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009