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Adaptive Event-Triggered Control Strategy for Ensuring Predefined Three-Dimensional Tracking Performance of Uncertain Nonlinear Underactuated Underwater Vehicles

Author

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  • Jin Hoe Kim

    (School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea)

  • Sung Jin Yoo

    (School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea)

Abstract

This paper presents an adaptive event-triggered control strategy for guaranteeing predefined tracking performance of uncertain nonlinear underactuated underwater vehicles (UUVs) in the three-dimensional space. Compared with the related results in the literature, the main contribution of this paper is to develop a nonlinear error transformation approach for ensuring predefined three-dimensional tracking performance under the underactuated property of 6-DOF UUVs and limited network resources. A nonlinear tracking error function is designed using a linear velocity rotation matrix and a time-varying performance function. An adaptive event-triggered control scheme using the nonlinear tracking error function and neural networks is constructed to ensure the practical stability of the closed-loop system with predefined three-dimensional tracking performance. In the proposed control scheme, auxiliary stabilizing signals are designed to resolve the underactuated problem of UUVs. Simulation results are presented to illustrate the effectiveness of the theoretical methodology.

Suggested Citation

  • Jin Hoe Kim & Sung Jin Yoo, 2021. "Adaptive Event-Triggered Control Strategy for Ensuring Predefined Three-Dimensional Tracking Performance of Uncertain Nonlinear Underactuated Underwater Vehicles," Mathematics, MDPI, vol. 9(2), pages 1-15, January.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:2:p:137-:d:477988
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    Cited by:

    1. Kim, Jin Hoe & Yoo, Sung Jin, 2022. "Distributed event-triggered adaptive output-feedback formation tracking of uncertain underactuated underwater vehicles in three-dimensional space," Applied Mathematics and Computation, Elsevier, vol. 424(C).

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