Nonlinear Path Following Control of Autonomous Underwater Vehicles: Under-actuated and Fully-actuated Cases

被引：0
|
作者：
Xiang, Xianbo [1 ]
Zheng, Jinrong [1 ]
Yu, Caoyang [1 ]
Xu, Guohua [1 ]
机构：
[1] Huazhong Univ Sci & Technol, Dept Marine Engn, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
AUV; Path following; Full actuation; Under actuation;
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：
This paper addresses the problem of nonlinear path following control of fully-actuated and under-actuated autonomous underwater vehicles. The similarity and difference of control designs on these two kinds of vehicles are analyzed, Where the sideslip angle is critical in dynamics evolving for both under-actuated and fully-actuated AUVs, which makes the difference in path following control design. As a result, the nonlinear controller for each type of AUV is proposed, and the inherent characteristics of under actuation and full actuation are revealed through numerical simulations.
引用
收藏
页码：8006 / 8010
页数：5
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