Earticle

초록

영어

This paper addresses the bottom-following control problem of an underactuated autonomous underwater vehicle (AUV) in the presence of ocean currents and model parameters uncertainties. The Serret-Frenet frame is used to describe the bottom following of the AUV. An extra degree of freedom for controller design is introduced. The extra degree of freedom makes the virtual AUV can regulate its velocity along with the real AUV. Based on Lyapunov theory and backstepping techniques, a nonlinear adaptive control law is derived. The control law yields convergence of the AUV to the desired path asymptotically. Simulations results show the effectiveness and robustness of the derived controllers.

목차

Abstract
 1. Introduction
 2. Problem Formulation
  2.1. Vehicle Modeling
  2.2. Bottom-Following: Error Coordinates
 3. Adaptive Bottom-Following Controller Design
  3.1. Kinematic Controller
  3.2. Dynamic Controller
  3.3. Parameter Adaptation
 4. Simulation Results
  4.1. Slope Path
  4.2. Curve Path
 5. Conclusions
 References

키워드

저자

• Xue Yang [ College of Science and Information, Qingdao Agricultural University, Qingdao 266109, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605