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
- National Natural Science Foundation of China [51179035, 51279221]
- Natural Science Foundation of Heilongjiang Province [E201121]
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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