Nonlinear RISE-Based Control of an Autonomous Underwater Vehicle
Nonlinear RISE-Based Control of an Autonomous Underwater Vehicle
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DOI：
10.1109/tro.2014.2305791
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发表时间：
2014-03
影响因子：
7.8
通讯作者：
N. Fischer;D. Hughes;P. Walters;E. Schwartz;W. Dixon
中科院分区：
文献类型：
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作者：
N. Fischer;D. Hughes;P. Walters;E. Schwartz;W. Dixon
本研究重点开发全驱动自主水下航行器（AUV）的非线性控制设计，使用误差控制结构符号的连续鲁棒积分来补偿系统不确定性和足够平滑的有界外生干扰。包括李亚普诺夫稳定性分析以证明半全局渐近跟踪。由此产生的控制器在佛罗里达大学开发的 AUV 上在受控和开放水域环境中进行了实验验证。
This study focuses on the development of a nonlinear control design for a fully-actuated autonomous underwater vehicle (AUV) using a continuous robust integral of the sign of the error control structure to compensate for system uncertainties and sufficiently smooth bounded exogenous disturbances. A Lyapunov stability analysis is included to prove semiglobal asymptotic tracking. The resulting controller is experimentally validated on an AUV developed at the University of Florida in both controlled and open-water environments.