3D path following control method for torpedo-type AUVs with uncertainty terms in their dynamics
文献类型：会议论文
| 作者 | Li, JH; Kang, HJ; Hong, SM; Suh, JH; Li S(李硕)
|
| 出版日期 | 2016 |
| 会议名称 | 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
| 会议日期 | December 3-7, 2016 |
| 会议地点 | Qingdao, China |
| 页码 | 1407-1412 |
| 通讯作者 | Li, JH |
| 中文摘要 | This paper presents a 3D path following control scheme for a class of torpedo-type autonomous underwater vehicles (AUVs) with uncertainty terms in their dynamics. For this kind of torpedo-type AUVs, there are only three control inputs, surge force, pitch and yaw moments, available for the vehicles' 6DOF 3D underwater motions. Therefore, it's a typical underactuated system. To tackle the 3D path following problem for this underactuated system, in this paper, we first introduce certain two spherical coordinate transformations so as to transform the vehicle's kinematics and dynamics model into three-inputs-three-outputs 2nd order strict-feedback form. Then, to avoid possible singularity problem in the recursive control design for this strict-feedback form of system, a similar asymptotic modification of orientation concept as in [1] is applied. In the case of uncertainty terms in the vehicle's dynamics, the proposed path following scheme can guarantee the uniformly ultimately boundedness (UUB) of closed-loop system in the spherical coordinate frame. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议录 | Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-4363-7 |
| 源URL | [http://ir.sia.cn/handle/173321/20184]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Li, JH,Kang, HJ,Hong, SM,et al. 3D path following control method for torpedo-type AUVs with uncertainty terms in their dynamics[C]. 见:2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016). Qingdao, China. December 3-7, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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