3D Path-Following of Underactuated Autonomous Underwater Vehicles

被引：0
|
作者：
Tian Yu [1 ]
Zhang Aiqun [1 ]
Li Wei [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
来源：
2011 30TH CHINESE CONTROL CONFERENCE (CCC) | 2011年
关键词：
Underactuated Autonomous Underwater Vehicles; 3D Path-Following; Guidance Function; Fuzzy Control; FUZZY P+ID CONTROLLER; DESIGN; ROBUST;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we use PID motion controllers to control underactuated Autonomous Underwater Vehicles (AUVs) to follow three-dimensional paths. Based on the path-following errors expressed in the Serret-Frenet coordinate frame, we study how to design the 3D path-following guidance functions, including an enhanced guidance function, which is based on single-input fuzzy logic controller in analytical form. We implement the proposed guidance functions on a six degree-of-freedom non-linear dynamic model of an underactuated AUV and present the simulation results on 3D path-following performance.
引用
收藏
页码：3456 / 3461
页数：6
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