Backstepping-based Path Following Control of an Underactuated Autonomous Underwater Vehicle

摘要：

This paper derives a control law to steer the dynamic model of an underactuated autonomous underwater vehicle (AUV) along a predefined path. We describe the path to be followed by the movement of a virtual AUV and drive the actual AUV on the desired path through following this virtual AUV. Furthermore, it overcomes a singular point that are presented in a number of path following control strategies described in the literature. Controller design builds on Lyapunov theory and backstepping techniques. The resulting control law yields convergence of the path following error trajectories to zero. Simulations illustrate the performance of the proposed controller.

作者: Yintao Wang Weisheng Yan Bo Gao Rongxin Cui

作者单位: Department of Mechanical Engineering and Automatic Control,College of Marine,Northwestern Polytechni Centre for Offshore Research and Engineering,National University of Singapore,119077,Sigapore

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 466-471

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）