期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 25, 期 2, 页码 429-440出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2016.2555247
关键词
Prescribed performance control; robust tracking control; underactuated underwater vehicles
资金
- EU [FP7-288273]
This paper addresses the tracking control problem of 3-D trajectories for underactuated underwater robotic vehicles. Our recent theoretical results on the prescribed performance control of fully actuated nonlinear systems are innovatively extended on the control of the most common types of underactuated underwater vehicles, namely, the torpedo-like (i.e., vehicles actuated only in surge, pitch, and yaw) and the unicycle-like (i.e., vehicles actuated only in surge, heave, and yaw). The main contributions of this paper concentrate on: 1) the reduced design complexity; 2) the increased robustness against system uncertainties; 3) the prescribed transient and steadystate performance; and 4) the minimal tracking information requirements. A comparative simulation study points out the intriguing performance properties of the proposed method, while its applicability is experimentally verified using a small unicycle-like underactuated underwater vehicle in a test tank.
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