Tracking Control of An Autonomous Underwater Vehicle under Time Delay

摘要

Many studies explore the tracking control of autonomous underwater vehicle (AUV). Unfortunately, the inevitable time-varying delay makes it difficult to achieve such a tracking task. This paper is concerned with position tracking problem under time-varying delay. Based on the complex dynamics model of AUV, model-free proportional-derivative (PD) control law with time-varying delay is designed to enforce the final state synchronization of AUV and the desired target. In order to improve the dynamic performance of position tracking, Takagi-Sugeno(T-S) fuzzy rules are adopted to adjust the proportional and derivative gains of the proposed controller. Finally, simulations and experiments are performed to verify the validity of the proposed control scheme.