期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 68, 期 9, 页码 8464-8473出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2020.3013790
关键词
Task analysis; Robustness; Surges; Kinematics; Kinetic theory; Trajectory tracking; Lyapunov-based; robust; trajectory tracking; underactuated AUVs
资金
- Key R&D Program of Zhejiang Province [2019C02002]
- Fundamental Research Funds for the Central Universities [2018XZZX001-06]
This article addresses the OSTT controller design problem for AUVs with separate forces or torques for surge, heave, roll, and yaw, in the presence of hydrodynamic uncertainties and external disturbances. The effectiveness of the proposed method is illustrated by both simulation results and experimental results.
Orientation-sensitive trajectory tracking (OSTT) claims that both position and orientation of the autonomous underwater vehicles (AUVs) are regulated to the reference. This article addresses the OSTT controller design problem for AUVs with separate forces or torques for surge, heave, roll, and yaw, in the presence of hydrodynamic uncertainties and external disturbances. In the kinematic stage, these AUVs are capable of moving sideways by exploiting the nonzero angle of the roll, so that the position tracking can be handled while the steering tracks the referenced yaw angle. As for the kinetic stage, a robust nonsmooth controller is implemented to guarantee the exponential convergence of velocity tracking errors. Trajectories are planned for the docking task and bridge pier inspection task. It is shown that the position tracking error can converge to a neighborhood about zero, and the yaw angle tracking error converges to zero exponentially as well. The effectiveness of the proposed method is illustrated by both simulation results and experimental results.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据