Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 67, Issue -, Pages 14-22Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/j.robot.2014.09.024
Keywords
AUV; Path following; Side-slip angle; Underactuation
Funding
- EU FP6 FreeSubNet project [036186]
- National Natural Science Foundation (NNSF) of China [51209100]
- Specialized Research Fund for the Doctoral Program of Higher Education [20120142120045]
- Fundamental Research Funds for the Central Universities [HUST: 2013TS090]
- European Marie Curie ESR Fellowship of the FP6 project Freesubnet
Ask authors/readers for more resources
This paper addresses the problem of steering autonomous underwater vehicle (AUV) along a desired horizontal path throughout the full-range low-speed and high-speed profiles, experiencing both fullyactuated and under-actuated configurations. First, a nonlinear controller adopting Lyapunov's direct method and backstepping technique is proposed for under-actuated AUV, based on the Line-of-Sight guidance built in a moving Frenet-Serret frame. And then, the controller is adapted to fully-actuated AUV except that the control computation for the evolution of the side-slip angle is different from the case of under-actuated one. Hence, both the fully-actuated and under-actuated configurations are under the same control framework, which enables a smooth continuous transition between two configurations in a synthesized controller. Finally, simulation results illustrate the performance of the proposed control design, where the varied control efforts in the sway direction clearly show the transitions from fullyactuated to under-actuated configuration. (C) 2014 Elsevier B.V. All rights reserved.
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