Region tracking control for Autonomous Underwater Vehicle
Region tracking control for Autonomous Underwater Vehicle
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DOI：
10.23919/acc.2017.7963061
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发表时间：
2017-05
期刊：
影响因子：
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通讯作者：
Mingjun Zhang;Xing Liu;Feng Yao;Zeyu Chen
中科院分区：
文献类型：
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作者：
Mingjun Zhang;Xing Liu;Feng Yao;Zeyu Chen
本文研究了自主水下航行器（AUV）的区域跟踪控制。提出了一种新颖的区域跟踪控制器，将 AUV 在每个时刻的位置跟踪误差驱动到预定义的球体区域。首先构造连续可微的分段函数，然后设计基于欧氏范数和位置跟踪误差分数幂的虚拟变量来实现。基于Lyapunov理论和Barbalat引理，分析了闭环系统的稳定性和跟踪误差的区域到达性。最后，所提出的方法被应用于 AUV 上以跟踪两种轨迹。仿真结果表明了该方法的有效性。
The paper investigates region tracking control for Autonomous Underwater Vehicles (AUVs). A novel region tracking controller is proposed to drive AUV's position tracking error in each instant into the predefined sphere region. It is realized by constructing a continuous and differentiable piecewise function firstly, and then by designing a virtual variable based on Euclidean norm and fractional power of position tracking error. The stability of the closed-loop system and region-reaching of tracking errors are analyzed based on Lyapunov theory and Barbalat's lemma. Finally, the proposed approach is employed to an AUV for tacking two kinds of trajectories. Simulation results show the effectiveness of the proposed method.