4.7 Article

Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle

期刊

OCEAN ENGINEERING
卷 105, 期 -, 页码 270-274

出版社

PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2015.06.034

关键词

AUV; Underactuated; Trajectory tracking; Backstepping

资金

  1. National Natural Science Foundation of China [51179035, 51279221]
  2. Natural Science Foundation of Heilongjiang Province [E201121]

向作者/读者索取更多资源

This paper addresses the problem of trajectory tracking control for underactuated autonomous underwater vehicles (AUVs) in 3 dimensions space. Given a smooth, inertial, 3D reference trajectory, in order to make the position error to stay in the neighborhood of zero, the control algorithm uses vehicle's kinematic equation and linear system stability theory to compute the desired body-fixed velocities. Using these methods, the velocity error dynamics are obtained. Backstepping techniques are used, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation of a spiral trajectory is performed. The result shows that the controller can realize 3 dimensions trajectory tracking effectively. (C) 2015 Elsevier Ltd. All rights reserved.

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