Nonlinear path following control of autonomous underwater vehicles

被引：0
|
作者：
Lapierre, L [1 ]
Soetanto, D [1 ]
Pascoal, A [1 ]
机构：
[1] Univ Tecn Lisboa, Inst Syst & Robot, Inst Super Tecn, P-1049001 Lisbon, Portugal
来源：
GUIDANCE AND CONTROL OF UNDERWATER VEHICLES 2003 | 2003年
关键词：
non linear control; path following; autonomous underwater vehicles;
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：
A new type of control law is derived to steer an autonomous underwater vehicle (AUV) along a desired path. The methodology adopted for path following deals explicitly with vehicle dynamics. Furthermore, it overcomes stringent initial condition constraints that are present in a number of path following control strategies described in the literature. Controller design builds on Lypaunov theory and backstepping techniques. The resulting nonlinear feedback control law yields convergence of the path following error trajectories to zero. Simulation results illustrate the performance of the control system proposed. Copyright (C) 2003 IFAC.
引用
收藏
页码：25 / 30
页数：6
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