Trajectory tracking of biomimetic autonomous underwater vehicle using different control strategies

被引：1
|
作者：
Aruna, M. V. [1 ]
Ananthakrishnan, P. [1 ]
机构：
[1] Indian Inst Technol, Dept Ocean Engn, Chennai 600036, Tamilnadu, India
来源：
INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL | 2023年 / 11卷 / 06期
关键词：
Control applications; Biomimetic model; Autonomous system;
D O I：
10.1007/s40435-023-01158-w
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Autonomous underwater vehicle (AUV) is an uncrewed underwater robotic vehicle that operates independently of humans. The present work illustrates an effective design of the biomimetic autonomous underwater vehicle (BAUV) model and its trajectory control for the predefined path. The vehicle possesses a definitive biomimetic structure with specific lengths and widths. Three trajectory tracking control methods are used here: conventional proportional-integral-derivative (PID) control, H-infinity control, and feedforward (along with feedback) control. The advantages and drawbacks of these would be governed by examining the characteristics of the methods. Finally, the future development of AUV trajectory tracking scenarios is discussed based on a comparison of control systems.
引用
收藏
页码：2924 / 2939
页数：16
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