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<p>To achieve globally prescribed performance tracking control for autonomous underwater vehicles (AUVs) under input saturation, this paper proposes an almost global nonsingular control scheme on SE(3), which permits the initial state to lie in an almost global configuration space and enables the system state to exceed the performance boundaries. First, to ensure the global effectiveness of the control scheme, the error dynamics of the AUV are formulated on the special Euclidean group SE(3) and mapped into a linear space to facilitate controller design. Second, a novel state-dependent performance boundary is presented to mitigate control input oscillations caused by state variations near the boundary. Then, a novel error transformation based on skew mapping is developed to address the issues of non-globality and singularity in traditional prescribed performance control methods under input saturation. Ultimately, a saturation-tolerant tracking controller is constructed that guarantees the error signals of the complete system are almost globally uniformly ultimately bounded on SE(3). The simulation results demonstrate that the presented method achieves globally nonsingular prescribed performance tracking control while effectively suppressing input oscillations near the performance boundary, significantly alleviating the conservatism inherent in prescribed performance control when applied to AUV engineering applications.</p>

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An almost globally non-singularity prescribed performance tracking control scheme on SE(3) for AUVs with input saturation

  • 期刊论文

  • 发表日期：

    2025年7月18日

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  • Yuchen Liao,
  • Kang An,
  • Dongbai Sun,
  • Xun Yan,
  • Dapeng Jiang

摘要

To achieve globally prescribed performance tracking control for autonomous underwater vehicles (AUVs) under input saturation, this paper proposes an almost global nonsingular control scheme on SE(3), which permits the initial state to lie in an almost global configuration space and enables the system state to exceed the performance boundaries. First, to ensure the global effectiveness of the control scheme, the error dynamics of the AUV are formulated on the special Euclidean group SE(3) and mapped into a linear space to facilitate controller design. Second, a novel state-dependent performance boundary is presented to mitigate control input oscillations caused by state variations near the boundary. Then, a novel error transformation based on skew mapping is developed to address the issues of non-globality and singularity in traditional prescribed performance control methods under input saturation. Ultimately, a saturation-tolerant tracking controller is constructed that guarantees the error signals of the complete system are almost globally uniformly ultimately bounded on SE(3). The simulation results demonstrate that the presented method achieves globally nonsingular prescribed performance tracking control while effectively suppressing input oscillations near the performance boundary, significantly alleviating the conservatism inherent in prescribed performance control when applied to AUV engineering applications.