Modeling and Variable Structure Control of Autonomous Underwater Vehicles with Moving Mass

摘要：

In order to solve the problem of general fins and rudders being lower at low moving speed, the moving mass technical is applied onto AUV, thus to radically solve the weakness of control method with fin and rudder. The space dynamics model of moving mass control is created for AUV. And based on this, the moving mass control system is designed with the sliding mode variable structure control method so as to ensure system tracking error zero convergence. By controlling the moving mass movement with moving mass control system, the attitude of AVU is previously controlled. And simulation result proves that moving mass control system will control the AUV attitude angle precisely and rapidly.

关键词： Autonomous underwater vehicle (AUV) moving mass control attitude motion variable structure control

作者: Zhao e Song Bao-wei

作者单位: College of Marine Engineering, Northwestern Polytechnical University, Xian 710072, China

会议类型: 国际会议

会议名称: 2011 3nd International Conference on Mechanical and Electronics Engineering(2011年第三届机械与电子工程国际会议 ICMEE2011)

会议地点: 合肥

会议语种:英文

页码: 1963-1967

在线出版日期: 2011-09-23（万方平台首次上网日期，不代表论文的发表时间）