Title :
3-D trajectory tracking control of an underactuated AUV
Author :
Dong Chen ; Xianbo Xiang ; Jinrong Zheng ; Guohua Xu
Author_Institution :
Sch. of Naval Archit. & Ocean Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
Most of the AUVs are belongs to underactuated mechanical systems, the tracking control problem of underactuated AUVs attracts many research concerns. In this paper, based on the error dynamics model in reference coordinate system a 3-D trajectory tracking controller for an underactuated AUV is developed by utilizing Lyapunov stability and Backstepping technique, as well as providing a guidance-based approach. The numerical simulations show the effectiveness of the proposed control algorithm.
Keywords :
Lyapunov methods; autonomous underwater vehicles; mobile robots; numerical analysis; stability; trajectory control; 3D trajectory tracking control; Lyapunov stability; autonomous underwater vehicle; backstepping technique; control algorithm; error dynamics model; guidance-based approach; numerical simulations; reference coordinate system; underactuated AUV; underactuated mechanical systems; Abstracts; Backstepping; Educational institutions; Electronic mail; Oceans; Trajectory; Underwater vehicles; AUV; Three-dimensional Space; Trajectory Tracking; Under-actuation;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
