3D path-following of underactuated Autonomous Underwater Vehicles

Author

Tian Yu ; Zhang Aiqun ; Li Wei

Author_Institution

State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang, China

fYear

2011

fDate

22-24 July 2011

Firstpage

3456

Lastpage

3461

Abstract

In this paper, we use PID motion controllers to control underactuated Autonomous Underwater Vehicles (AUVs) to follow three-dimensional paths. Based on the path-following errors expressed in the Serret-Frenet coordinate frame, we study how to design the 3D path-following guidance functions, including an enhanced guidance function, which is based on single-input fuzzy logic controller in analytical form. We implement the proposed guidance functions on a six degree-of-freedom non-linear dynamic model of an underactuated AUV and present the simulation results on 3D path-following performance.

Keywords

fuzzy control; motion control; nonlinear control systems; path planning; remotely operated vehicles; three-term control; underwater vehicles; 3D path-following guidance function; PID motion controller; Serret-Frenet coordinate frame; nonlinear dynamic model; single-input fuzzy logic controller; underactuated autonomous underwater vehicles; Electronic mail; Fuzzy logic; Niobium; Three dimensional displays; Tuning; Underwater vehicles; Vehicle dynamics; 3D Path-Following; Fuzzy Control; Guidance Function; Underactuated Autonomous Underwater Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6000630