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自主水下航行器的变质心跟踪控制

李家旺,  宋保维,  邵成

文章导航 > 自动化学报  > 2008 >  34(10): 1319-1323
李家旺, 宋保维, 邵成. 自主水下航行器的变质心跟踪控制. 自动化学报, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
引用本文: 李家旺, 宋保维, 邵成. 自主水下航行器的变质心跟踪控制. 自动化学报, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
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LI Jia-Wang, SONG Bao-Wei, SHAO Cheng. Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass. ACTA AUTOMATICA SINICA, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
Citation: LI Jia-Wang, SONG Bao-Wei, SHAO Cheng. Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass. ACTA AUTOMATICA SINICA, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
shu

自主水下航行器的变质心跟踪控制

doi: 10.3724/SP.J.1004.2008.01319
  • 1.

    College of Marine, Northwestern Polytechnical University, Xi'an 710072, P.R.China

详细信息
    通讯作者:

    李家旺

Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass

  • 1.

    College of Marine, Northwestern Polytechnical University, Xi'an 710072, P.R.China

More Information
    Corresponding author: LI Jia-Wang

    摘要
  • 摘要: The trajectory-tracking control problem is investigated for an autonomous underwater vehicle (AUV) moving in the vertical plane using an internal point mass and a rear thruster as actuators. Combined with the dynamics of the point mass, the AUV is modeled as an underactuated system. A Lyapunov-based tracking controller is proposed by using backstepping approach to stabilize the error dynamics and force the position errors to a small neighborhood of the origin. Simulation results validate the proposed tracking approach.
    Abstract: The trajectory-tracking control problem is investigated for an autonomous underwater vehicle (AUV) moving in the vertical plane using an internal point mass and a rear thruster as actuators. Combined with the dynamics of the point mass, the AUV is modeled as an underactuated system. A Lyapunov-based tracking controller is proposed by using backstepping approach to stabilize the error dynamics and force the position errors to a small neighborhood of the origin. Simulation results validate the proposed tracking approach.
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出版历程
  • 收稿日期:  2007-08-03
  • 修回日期:  2007-12-24
  • 刊出日期:  2008-10-20

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