Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 4, Issue 11, Pages 2369-2380Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2009.0265
Keywords
-
Ask authors/readers for more resources
This study addresses the problem of position-tracking control of underactuated autonomous underwater vehicles (AUVs) in the presence of unknown ocean currents in a horizontal plane. A position-tracking controller and a current observer are presented based on the Lyapunov stability theory by using the backstepping technique, respectively. The final controlled system, which arises from putting together the position-tracking controller and the observer, is proved to be globally K-exponentially stable by stability criteria for cascade system. The trajectories used for the illustration of the proposed control schemes are a circle with constant velocity and a sinusoidal curve that requires time-varying velocity. In order to demonstrate the practicability of the proposed controller, the surge force is assumed to be non-negative, and control input saturations are considered. Simulation results are presented to demonstrate the effectiveness of the proposed control schemes.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available