Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle
Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle
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DOI：
10.1016/j.oceaneng.2015.06.034
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发表时间：
2015-09
影响因子：
5
通讯作者：
Ye Li;Cong Wei;Qi Wu;Pengyun Chen;Yanqing Jiang;Yi-ming Li
中科院分区：
文献类型：
--
作者：
Ye Li;Cong Wei;Qi Wu;Pengyun Chen;Yanqing Jiang;Yi-ming Li
研究了欠驱动自主式水下机器人在三维空间中的轨迹跟踪控制问题。在给定平滑、惯性、3D参考轨迹的情况下，为了使位置误差保持在零附近，控制算法利用车辆׳S运动学方程和线性系统稳定性理论来计算期望的车身固定速度。利用这些方法，得到了速度误差的动态特性。使用了反推技术，将跟踪误差强制到任意小的零邻域内。对螺旋线轨迹进行了仿真。结果表明，该控制器能有效地实现三维轨迹跟踪。
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.