A two-step control approach for docking of autonomous underwater vehicles

被引:22
|
作者
Batista, Pedro [1 ]
Silvestre, Carlos [1 ,2 ]
Oliveira, Paulo [1 ,3 ]
机构
[1] Univ Lisbon, Inst Super Tecn, Inst Syst & Robot, P-1699 Lisbon, Portugal
[2] Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Taipa, Macau, Peoples R China
[3] Univ Lisbon, Inst Super Tecn, Dept Mech Engn, P-1699 Lisbon, Portugal
关键词
docking; autonomous underwater vehicles; nonlinear control;
D O I
10.1002/rnc.3158
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright (c) 2014 John Wiley & Sons, Ltd.
引用
收藏
页码:1528 / 1547
页数:20
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