Homing and Docking Autopilot Design for Autonomous Underwater Vehicle

被引：8
|
作者：
Pshikhopov, V. Kh [1 ]
Medvedev, M. Yu [1 ]
Gurenko, B., V [1 ]
机构：
[1] Southern Fed Univ, Dept Elect Sci & Mechatron, Taganrog 347928, Russia
来源：
MECHANICAL DESIGN AND POWER ENGINEERING, PTS 1 AND 2 | 2014年 / 490-491卷
关键词：
docking; homing autopilot; estimations; underwater vehicle;
D O I：
10.4028/www.scientific.net/AMM.490-491.700
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents homing and docking autopilot design for the autonomous underwater vehicle (AUV). A nonlinear interrelated dynamic model of the underwater vehicle is considered. The AUV autopilot is designed on base of a position-trajectory control method. Adaptation of the control system is based on robust disturbances estimation. Modeling and hardware results approved feasibility of the proposed methods.
引用
收藏
页码：700 / 707
页数：8
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