The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stab...The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stabilized by means of the stem plane, and the thruster is left to stabilize the longitudinal bottom-following error and forward speed. In order to better meet the need of engineering applications, working characteristics of the actuators were sufficiently considered to design the proposed controller. Different from the traditional method, the methodology used to solve the problem is generated by AUV model without a reference orientation, and it deals explicitly with vehicle dynamics and the geometric characteristics of the desired tracking bottom curve. The estimation of systemic uncertainties and disturbances and the pitch velocity PE （persistent excitation） conditions are not required. The stability analysis is given by Lyapunov theorem. Simulation results of a full nonlinear hydrodynamic AUV model are provided to validate the effectiveness and robustness of the proposed controller.展开更多
This paper addresses a three-dimensional(3D)trajectory tracking problem of underactuated autonomous underwater vehicles(AUVs)subjected to input saturation and external disturbances.The proposed controller can achieve ...This paper addresses a three-dimensional(3D)trajectory tracking problem of underactuated autonomous underwater vehicles(AUVs)subjected to input saturation and external disturbances.The proposed controller can achieve practical convergence of tracking errors for general reference trajectories,including persistently exciting(PE)time varying trajectories and fixed points.At first,a modified error state formulation is introduced to tackle the situation that desired velocities do not satisfy PE condition.Then,on the basis of the backstepping technique and a Nussbaum-type even function,a saturated controller is designed so that the tracking errors can converge to a bounded neighborhood of the origin.The stability analysis based on Lyapunov theory shows that the tracking errors are globally ultimately uniformly bounded.Finally,some simulation results illustrate the effectiveness and robustness of the proposed control strategy.展开更多
基金Project(61174047) supported by the National Natural Science Foundation of ChinaProject(20102304110003) supported by the Doctoral Fund of Ministry of Education of ChinaProject(51316080301) supported by Advanced Research
文摘The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stabilized by means of the stem plane, and the thruster is left to stabilize the longitudinal bottom-following error and forward speed. In order to better meet the need of engineering applications, working characteristics of the actuators were sufficiently considered to design the proposed controller. Different from the traditional method, the methodology used to solve the problem is generated by AUV model without a reference orientation, and it deals explicitly with vehicle dynamics and the geometric characteristics of the desired tracking bottom curve. The estimation of systemic uncertainties and disturbances and the pitch velocity PE （persistent excitation） conditions are not required. The stability analysis is given by Lyapunov theorem. Simulation results of a full nonlinear hydrodynamic AUV model are provided to validate the effectiveness and robustness of the proposed controller.
基金the National Natural Science Founda-tion of China(No.51309133)。
文摘This paper addresses a three-dimensional(3D)trajectory tracking problem of underactuated autonomous underwater vehicles(AUVs)subjected to input saturation and external disturbances.The proposed controller can achieve practical convergence of tracking errors for general reference trajectories,including persistently exciting(PE)time varying trajectories and fixed points.At first,a modified error state formulation is introduced to tackle the situation that desired velocities do not satisfy PE condition.Then,on the basis of the backstepping technique and a Nussbaum-type even function,a saturated controller is designed so that the tracking errors can converge to a bounded neighborhood of the origin.The stability analysis based on Lyapunov theory shows that the tracking errors are globally ultimately uniformly bounded.Finally,some simulation results illustrate the effectiveness and robustness of the proposed control strategy.
